Nico De Witte / racing_robots

Racing Robots Session

Dependencies:   MbedJSONValue m3pi

This is the library for the Racing Robots session. It supports the M3PI robot of Polulu.

It is based on the "Arduino" principle of the init and loop function.

Just add a main.cpp file which contains:

Racing Robots main file

#include "robot_logic.h"

void init()
{
   //put your initialization logic here
}

void loop()
{
    //put your robot control logic here    
}

Features include:

  1. Controlling the LEDS
  2. Move forward and backward
  3. Turn
  4. Read the sensor values
  5. Use a PID controller

robot_logic.h

Committer:
pcordemans
Date:
2015-02-24
Revision:
4:3743cbfe031b
Parent:
2:356bb8d99326
Child:
6:0dc4e4225881

File content as of revision 4:3743cbfe031b:

#ifndef H_ROBOT_LOGIC
#define H_ROBOT_LOGIC

#include "mbed.h"
#include "m3pi.h"

typedef enum {
   LED_1 = 0,
   LED_2 = 1,
   LED_3 = 2,
   LED_4 = 3,
   LED_5 = 4,
   LED_6 = 5,
   LED_7 = 6,
   LED_8 = 7
} LedIndex;

typedef enum {
    LED_ON = 0,
    LED_OFF = 1,
    LED_TOGGLE = 2
} LedState;


/*
 * Drive the robot forward or backward.
 * If the robot was turning it will stop turning and drive in a straight line.
 *
 * @speed The speed percentage with which to drive forward or backward.
 * Can range from -100 (full throttle backward) to +100 (full throttle forward).
 */
void drive(int speed);

/*
 * Turn the robot left or right while driving.
 *
 * @turnspeed The percentage with which to turn the robot.
 * Can range from -100 (full throttle left) to +100 (full throttle right).
 */
void turn(int turnspeed);

/*
 * Stop the robot.
 */
void stop(void);

/*
 * Calibrate the line follow sensors.
 * Take note that the pololu should be placed over the line
 * before this function is called and that it will rotate to
 * both sides.
 */
void sensor_calibrate(void);

/*
 * Read the value from the line sensor. The returned value indicates the
 * position of the line. The value ranges from -100 to +100 where -100 is
 * fully left, +100 is fully right and 0 means the line is detected in the middle.
 *
 * @return The position of the line with a range of -100 to +100.
 */
int line_sensor(void);

/*
 * Initialize the PID drive control with
 * the P, I and T factors.
 *
 * @p The P factor
 * @i The I factor
 * @d The D factor
 */
void pid_init(int p, int i, int d);

/*
 * Determine PID turnspeed with which the pololu should
 * turn to follow the line at the given position.
 *
 * @line_position The position of the line in a range of [-100, +100]
 *
 * @returns The turnspeed in a range of [-100, +100]
 */
int pid_turn(int line_position);

// Show drive speed and sensor data
void show_stats();

// Show the name of the robot on the display
void show_name(char * name);


// Turn a led on or off
void led(LedIndex i, LedState state);

// Wait for a number of milliseconds
void await(int milliseconds);

#endif