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m3pi Class Reference
m3pi Class
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#include <m3pi.h >
m3pi () m3pi constructor ~m3pi () m3pi destructor void init () Initialisation function. void scan () Causes the robot to read the IR sensors. void get_signature (char *signature) Get signature of slave firmware. void get_raw_values (unsigned int *values) Read raw sensor values from IR sensors (0 - 2000) void get_calibrated_values (unsigned int *values) Read calibrated sensor values from IR sensors (0 - 1000) float get_trimpot_value () Read user potentiometer values (0.0 - 1.0) float get_battery_voltage () Read battery voltage. void play_music (const char notes[], int length) Play music. void calibrate () Calibrate. void reset_calibration () Reset previous calibration values. float get_line_position () Returns estimate of normalised line position. float read_line () Returns an estimate of the normalised line position. void lcd_clear () Clear LCD. void lcd_print (char text[], int length) Print text on LCD. void lcd_goto_xy (int x, int y) Move cursor on LCD. void auto_calibrate () Call automatic calibration function. void left_motor (float speed) Move left motor. void right_motor (float speed) Move right motor. void motors (float left_speed, float right_speed) Move both motors. void stop () Stop both motors. void forward (float speed) Move buggy forward. void reverse (float speed) Reverse buggy. void spin_right (float speed) Spin right. void spin_left (float speed) Spin left. void display_battery_voltage (int x, int y) Display battery voltage on LCD. void display_signature (int x, int y) Display slave firmware signature on LCD. void display_data () Display line position and bar graph of sensor readings on LCD. void display_sensor_values (unsigned int values[], int y) Display sensor values on LCD. unsigned int get_sensor_array_value (unsigned int values[]) Gets value of sensor array expressed as decimal number. float calc_line_position (unsigned int values[]) Calculates an estimate of normalised line position from the sensor readings.
Detailed Description
m3pi Class
Library to control m3pi robot from Polulu running the serial slave code Revision 1.0
Author: Craig A. Evans <C.A.Evans@leeds.ac.uk > Date: April 2017 Definition at line 13 of file m3pi.h .
Constructor & Destructor Documentation
Member Function Documentation
Call automatic calibration function.
Definition at line 246 of file m3pi.cpp .
float calc_line_position
(
unsigned int
values [] )
Calculates an estimate of normalised line position from the sensor readings.
Returns: float in the range -1.0 to 1.0 -1.0 for line under sensor 0, -0.5 for line under sensor 1
0.0 for line under sensor 2, 0.5 for line under sensor 3 etc.
Definition at line 447 of file m3pi.cpp .
Calibrate.
manual calibration of sensors. Should be called repeatedly.
Definition at line 168 of file m3pi.cpp .
void display_battery_voltage
(
int
x ,
int
y
)
Display battery voltage on LCD.
Parameters:
x - x position on LCD to display y - line on LCD to display
Definition at line 369 of file m3pi.cpp .
Display line position and bar graph of sensor readings on LCD.
must call scan() and read_line() first
Definition at line 416 of file m3pi.cpp .
void display_sensor_values
(
unsigned int
values [],
int
y
)
Display sensor values on LCD.
Parameters:
values - array of calibrated sensor values y - line on LCD to display
Definition at line 396 of file m3pi.cpp .
void display_signature
(
int
x ,
int
y
)
Display slave firmware signature on LCD.
Parameters:
x - x position on LCD to display y - line on LCD to display
Definition at line 380 of file m3pi.cpp .
void forward
(
float
speed )
Move buggy forward.
Parameters:
speed - value in range 0.0 to 1.0 (full-speed forward)
Definition at line 330 of file m3pi.cpp .
float get_battery_voltage
(
)
Read battery voltage.
Returns: battery voltage in volts Definition at line 129 of file m3pi.cpp .
void get_calibrated_values
(
unsigned int *
values )
Read calibrated sensor values from IR sensors (0 - 1000)
Parameters:
values - array of size 5 to store values
Definition at line 83 of file m3pi.cpp .
float get_line_position
(
)
Returns estimate of normalised line position.
Returns: float in the range -1.0 to 1.0 -1.0 for line under sensor 0, -0.5 for line under sensor 1
0.0 for line under sensor 2, 0.5 for line under sensor 3 etc.
Definition at line 184 of file m3pi.cpp .
void get_raw_values
(
unsigned int *
values )
Read raw sensor values from IR sensors (0 - 2000)
Parameters:
values - array of size 5 to store values
Definition at line 56 of file m3pi.cpp .
unsigned int get_sensor_array_value
(
unsigned int
values [] )
Gets value of sensor array expressed as decimal number.
Each sensor is a bit (PC4 is bit 0, PC0 is bit 5)
Returns: value - 5-bit value of sensor reading Definition at line 427 of file m3pi.cpp .
void get_signature
(
char *
signature )
Get signature of slave firmware.
Parameters:
signature - array of size 7 to store signature
Definition at line 46 of file m3pi.cpp .
float get_trimpot_value
(
)
Read user potentiometer values (0.0 - 1.0)
Returns: float in range 0.0 to 1.0 Definition at line 109 of file m3pi.cpp .
Initialisation function.
Should be called at the start of the program to interrupt demo
code and start 3pi in serial slave mode
Definition at line 31 of file m3pi.cpp .
void lcd_goto_xy
(
int
x ,
int
y
)
Move cursor on LCD.
Parameters:
x - x position y - line number
Definition at line 232 of file m3pi.cpp .
void lcd_print
(
char
text [],
int
length
)
Print text on LCD.
Parameters:
text[] - string of max size 8 - length of string
Definition at line 210 of file m3pi.cpp .
void left_motor
(
float
speed )
Move left motor.
Parameters:
speed - value in range -1.0 (full-speed backward) to 1.0 (full-speed forward)
Definition at line 262 of file m3pi.cpp .
void motors
(
float
left_speed ,
float
right_speed
)
Move both motors.
Parameters:
left speed - value in range -1.0 (full-speed backward) to 1.0 (full-speed forward) right speed - value in range -1.0 (full-speed backward) to 1.0 (full-speed forward)
Definition at line 317 of file m3pi.cpp .
void play_music
(
const char
notes [],
int
length
)
Play music.
Parameters:
notes - const array containing Pololu notes length - number of notes in array
Definition at line 146 of file m3pi.cpp .
Returns an estimate of the normalised line position.
Returns: float in the range -1.0 to 1.0 uses the values of sensor stored in the class - must call scan() first!
-1.0 for line under sensor 0, -0.5 for line under sensor 1
0.0 for line under sensor 2, 0.5 for line under sensor 3 etc.
Definition at line 475 of file m3pi.cpp .
void reset_calibration
(
)
Reset previous calibration values.
Definition at line 176 of file m3pi.cpp .
void reverse
(
float
speed )
Reverse buggy.
Parameters:
speed - value in range 0.0 to 1.0 (full-speed forward)
Definition at line 340 of file m3pi.cpp .
void right_motor
(
float
speed )
Move right motor.
Parameters:
speed - value in range -1.0 (full-speed backward) to 1.0 (full-speed forward)
Definition at line 289 of file m3pi.cpp .
Causes the robot to read the IR sensors.
is an alterative to get_*_values methods if you don't need the values themselves
Definition at line 41 of file m3pi.cpp .
void spin_left
(
float
speed )
Spin left.
Parameters:
speed - value in range 0.0 to 1.0
Definition at line 358 of file m3pi.cpp .
void spin_right
(
float
speed )
Spin right.
Parameters:
speed - value in range 0.0 to 1.0
Definition at line 349 of file m3pi.cpp .
Stop both motors.
Definition at line 323 of file m3pi.cpp .
1.7.2