Masa Itou / Mbed 2 deprecated test2

test

Dependencies:   mbed

m3pi/m3pi.h@0:ad3a16d8dbc8, 2013-05-16 (annotated)

Committer:
itoumasa
Date:
Thu May 16 05:58:24 2013 +0000
Revision:
0:ad3a16d8dbc8
jh

Who changed what in which revision?

UserRevisionLine numberNew contents of line
itoumasa 0:ad3a16d8dbc8 1 /* mbed m3pi Library
itoumasa 0:ad3a16d8dbc8 2 * Copyright (c) 2007-2010 cstyles
itoumasa 0:ad3a16d8dbc8 3 *
itoumasa 0:ad3a16d8dbc8 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
itoumasa 0:ad3a16d8dbc8 5 * of this software and associated documentation files (the "Software"), to deal
itoumasa 0:ad3a16d8dbc8 6 * in the Software without restriction, including without limitation the rights
itoumasa 0:ad3a16d8dbc8 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
itoumasa 0:ad3a16d8dbc8 8 * copies of the Software, and to permit persons to whom the Software is
itoumasa 0:ad3a16d8dbc8 9 * furnished to do so, subject to the following conditions:
itoumasa 0:ad3a16d8dbc8 10 *
itoumasa 0:ad3a16d8dbc8 11 * The above copyright notice and this permission notice shall be included in
itoumasa 0:ad3a16d8dbc8 12 * all copies or substantial portions of the Software.
itoumasa 0:ad3a16d8dbc8 13 *
itoumasa 0:ad3a16d8dbc8 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
itoumasa 0:ad3a16d8dbc8 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
itoumasa 0:ad3a16d8dbc8 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
itoumasa 0:ad3a16d8dbc8 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
itoumasa 0:ad3a16d8dbc8 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
itoumasa 0:ad3a16d8dbc8 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
itoumasa 0:ad3a16d8dbc8 20 * THE SOFTWARE.
itoumasa 0:ad3a16d8dbc8 21 */
itoumasa 0:ad3a16d8dbc8 22
itoumasa 0:ad3a16d8dbc8 23 #ifndef M3PI_H
itoumasa 0:ad3a16d8dbc8 24 #define M3PI_H
itoumasa 0:ad3a16d8dbc8 25
itoumasa 0:ad3a16d8dbc8 26 #include "mbed.h"
itoumasa 0:ad3a16d8dbc8 27 #include "platform.h"
itoumasa 0:ad3a16d8dbc8 28
itoumasa 0:ad3a16d8dbc8 29 #ifdef MBED_RPC
itoumasa 0:ad3a16d8dbc8 30 #include "rpc.h"
itoumasa 0:ad3a16d8dbc8 31 #endif
itoumasa 0:ad3a16d8dbc8 32
itoumasa 0:ad3a16d8dbc8 33 #define SEND_SIGNATURE 0x81
itoumasa 0:ad3a16d8dbc8 34 #define SEND_RAW_SENSOR_VALUES 0x86
itoumasa 0:ad3a16d8dbc8 35 #define SEND_TRIMPOT 0xB0
itoumasa 0:ad3a16d8dbc8 36 #define SEND_BATTERY_MILLIVOLTS 0xB1
itoumasa 0:ad3a16d8dbc8 37 #define DO_PLAY 0xB3
itoumasa 0:ad3a16d8dbc8 38 #define PI_CALIBRATE 0xB4
itoumasa 0:ad3a16d8dbc8 39 #define DO_CLEAR 0xB7
itoumasa 0:ad3a16d8dbc8 40 #define DO_PRINT 0xB8
itoumasa 0:ad3a16d8dbc8 41 #define DO_LCD_GOTO_XY 0xB9
itoumasa 0:ad3a16d8dbc8 42 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
itoumasa 0:ad3a16d8dbc8 43 #define SEND_LINE_POSITION 0xB6
itoumasa 0:ad3a16d8dbc8 44 #define AUTO_CALIBRATE 0xBA
itoumasa 0:ad3a16d8dbc8 45 #define SET_PID 0xBB
itoumasa 0:ad3a16d8dbc8 46 #define STOP_PID 0xBC
itoumasa 0:ad3a16d8dbc8 47 #define M1_FORWARD 0xC1
itoumasa 0:ad3a16d8dbc8 48 #define M1_BACKWARD 0xC2
itoumasa 0:ad3a16d8dbc8 49 #define M2_FORWARD 0xC5
itoumasa 0:ad3a16d8dbc8 50 #define M2_BACKWARD 0xC6
itoumasa 0:ad3a16d8dbc8 51
itoumasa 0:ad3a16d8dbc8 52
itoumasa 0:ad3a16d8dbc8 53
itoumasa 0:ad3a16d8dbc8 54 /** m3pi control class
itoumasa 0:ad3a16d8dbc8 55 *
itoumasa 0:ad3a16d8dbc8 56 * Example:
itoumasa 0:ad3a16d8dbc8 57 * @code
itoumasa 0:ad3a16d8dbc8 58 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
itoumasa 0:ad3a16d8dbc8 59
itoumasa 0:ad3a16d8dbc8 60 #include "mbed.h"
itoumasa 0:ad3a16d8dbc8 61 #include "m3pi.h"
itoumasa 0:ad3a16d8dbc8 62
itoumasa 0:ad3a16d8dbc8 63 m3pi pi;
itoumasa 0:ad3a16d8dbc8 64
itoumasa 0:ad3a16d8dbc8 65 int main() {
itoumasa 0:ad3a16d8dbc8 66
itoumasa 0:ad3a16d8dbc8 67 wait(0.5);
itoumasa 0:ad3a16d8dbc8 68
itoumasa 0:ad3a16d8dbc8 69 pi.forward(0.5);
itoumasa 0:ad3a16d8dbc8 70 wait (0.5);
itoumasa 0:ad3a16d8dbc8 71 pi.left(0.5);
itoumasa 0:ad3a16d8dbc8 72 wait (0.5);
itoumasa 0:ad3a16d8dbc8 73 pi.backward(0.5);
itoumasa 0:ad3a16d8dbc8 74 wait (0.5);
itoumasa 0:ad3a16d8dbc8 75 pi.right(0.5);
itoumasa 0:ad3a16d8dbc8 76 wait (0.5);
itoumasa 0:ad3a16d8dbc8 77
itoumasa 0:ad3a16d8dbc8 78 pi.stop();
itoumasa 0:ad3a16d8dbc8 79
itoumasa 0:ad3a16d8dbc8 80 }
itoumasa 0:ad3a16d8dbc8 81 * @endcode
itoumasa 0:ad3a16d8dbc8 82 */
itoumasa 0:ad3a16d8dbc8 83 class m3pi : public Stream {
itoumasa 0:ad3a16d8dbc8 84
itoumasa 0:ad3a16d8dbc8 85 // Public functions
itoumasa 0:ad3a16d8dbc8 86 public:
itoumasa 0:ad3a16d8dbc8 87
itoumasa 0:ad3a16d8dbc8 88 /** Create the m3pi object connected to the default pins
itoumasa 0:ad3a16d8dbc8 89 *
itoumasa 0:ad3a16d8dbc8 90 * @param nrst GPIO pin used for reset. Default is p23
itoumasa 0:ad3a16d8dbc8 91 * @param tx Serial transmit pin. Default is p9
itoumasa 0:ad3a16d8dbc8 92 * @param rx Serial receive pin. Default is p10
itoumasa 0:ad3a16d8dbc8 93 */
itoumasa 0:ad3a16d8dbc8 94 m3pi();
itoumasa 0:ad3a16d8dbc8 95
itoumasa 0:ad3a16d8dbc8 96
itoumasa 0:ad3a16d8dbc8 97 /** Create the m3pi object connected to specific pins
itoumasa 0:ad3a16d8dbc8 98 *
itoumasa 0:ad3a16d8dbc8 99 */
itoumasa 0:ad3a16d8dbc8 100 m3pi(PinName nrst, PinName tx, PinName rx);
itoumasa 0:ad3a16d8dbc8 101
itoumasa 0:ad3a16d8dbc8 102
itoumasa 0:ad3a16d8dbc8 103
itoumasa 0:ad3a16d8dbc8 104 /** Force a hardware reset of the 3pi
itoumasa 0:ad3a16d8dbc8 105 */
itoumasa 0:ad3a16d8dbc8 106 void reset (void);
itoumasa 0:ad3a16d8dbc8 107
itoumasa 0:ad3a16d8dbc8 108 /** Directly control the speed and direction of the left motor
itoumasa 0:ad3a16d8dbc8 109 *
itoumasa 0:ad3a16d8dbc8 110 * @param speed A normalised number -1.0 - 1.0 represents the full range.
itoumasa 0:ad3a16d8dbc8 111 */
itoumasa 0:ad3a16d8dbc8 112 void left_motor (float speed);
itoumasa 0:ad3a16d8dbc8 113
itoumasa 0:ad3a16d8dbc8 114 /** Directly control the speed and direction of the right motor
itoumasa 0:ad3a16d8dbc8 115 *
itoumasa 0:ad3a16d8dbc8 116 * @param speed A normalised number -1.0 - 1.0 represents the full range.
itoumasa 0:ad3a16d8dbc8 117 */
itoumasa 0:ad3a16d8dbc8 118 void right_motor (float speed);
itoumasa 0:ad3a16d8dbc8 119
itoumasa 0:ad3a16d8dbc8 120 /** Drive both motors forward as the same speed
itoumasa 0:ad3a16d8dbc8 121 *
itoumasa 0:ad3a16d8dbc8 122 * @param speed A normalised number 0 - 1.0 represents the full range.
itoumasa 0:ad3a16d8dbc8 123 */
itoumasa 0:ad3a16d8dbc8 124 void forward (float speed);
itoumasa 0:ad3a16d8dbc8 125
itoumasa 0:ad3a16d8dbc8 126 /** Drive both motors backward as the same speed
itoumasa 0:ad3a16d8dbc8 127 *
itoumasa 0:ad3a16d8dbc8 128 * @param speed A normalised number 0 - 1.0 represents the full range.
itoumasa 0:ad3a16d8dbc8 129 */
itoumasa 0:ad3a16d8dbc8 130 void backward (float speed);
itoumasa 0:ad3a16d8dbc8 131
itoumasa 0:ad3a16d8dbc8 132 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
itoumasa 0:ad3a16d8dbc8 133 *
itoumasa 0:ad3a16d8dbc8 134 * @param speed A normalised number 0 - 1.0 represents the full range.
itoumasa 0:ad3a16d8dbc8 135 */
itoumasa 0:ad3a16d8dbc8 136 void left (float speed);
itoumasa 0:ad3a16d8dbc8 137
itoumasa 0:ad3a16d8dbc8 138 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
itoumasa 0:ad3a16d8dbc8 139 * @param speed A normalised number 0 - 1.0 represents the full range.
itoumasa 0:ad3a16d8dbc8 140 */
itoumasa 0:ad3a16d8dbc8 141 void right (float speed);
itoumasa 0:ad3a16d8dbc8 142
itoumasa 0:ad3a16d8dbc8 143 /** Stop both motors
itoumasa 0:ad3a16d8dbc8 144 *
itoumasa 0:ad3a16d8dbc8 145 */
itoumasa 0:ad3a16d8dbc8 146 void stop (void);
itoumasa 0:ad3a16d8dbc8 147
itoumasa 0:ad3a16d8dbc8 148 /** Read the voltage of the potentiometer on the 3pi
itoumasa 0:ad3a16d8dbc8 149 * @returns voltage as a float
itoumasa 0:ad3a16d8dbc8 150 *
itoumasa 0:ad3a16d8dbc8 151 */
itoumasa 0:ad3a16d8dbc8 152 float pot_voltage(void);
itoumasa 0:ad3a16d8dbc8 153
itoumasa 0:ad3a16d8dbc8 154 /** Read the battery voltage on the 3pi
itoumasa 0:ad3a16d8dbc8 155 * @returns battery voltage as a float
itoumasa 0:ad3a16d8dbc8 156 */
itoumasa 0:ad3a16d8dbc8 157 float battery(void);
itoumasa 0:ad3a16d8dbc8 158
itoumasa 0:ad3a16d8dbc8 159 /** Read the position of the detected line
itoumasa 0:ad3a16d8dbc8 160 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
itoumasa 0:ad3a16d8dbc8 161 * -1.0 means line is on the left, or the line has been lost
itoumasa 0:ad3a16d8dbc8 162 * 0.0 means the line is in the middle
itoumasa 0:ad3a16d8dbc8 163 * 1.0 means the line is on the right
itoumasa 0:ad3a16d8dbc8 164 */
itoumasa 0:ad3a16d8dbc8 165 float line_position (void);
itoumasa 0:ad3a16d8dbc8 166
itoumasa 0:ad3a16d8dbc8 167
itoumasa 0:ad3a16d8dbc8 168 /** Calibrate the sensors. This turns the robot left then right, looking for a line
itoumasa 0:ad3a16d8dbc8 169 *
itoumasa 0:ad3a16d8dbc8 170 */
itoumasa 0:ad3a16d8dbc8 171 char sensor_auto_calibrate (void);
itoumasa 0:ad3a16d8dbc8 172
itoumasa 0:ad3a16d8dbc8 173 /** Set calibration manually to the current settings.
itoumasa 0:ad3a16d8dbc8 174 *
itoumasa 0:ad3a16d8dbc8 175 */
itoumasa 0:ad3a16d8dbc8 176 void calibrate(void);
itoumasa 0:ad3a16d8dbc8 177
itoumasa 0:ad3a16d8dbc8 178 /** Clear the current calibration settings
itoumasa 0:ad3a16d8dbc8 179 *
itoumasa 0:ad3a16d8dbc8 180 */
itoumasa 0:ad3a16d8dbc8 181 void reset_calibration (void);
itoumasa 0:ad3a16d8dbc8 182
itoumasa 0:ad3a16d8dbc8 183 void PID_start(int max_speed, int a, int b, int c, int d);
itoumasa 0:ad3a16d8dbc8 184
itoumasa 0:ad3a16d8dbc8 185 void PID_stop();
itoumasa 0:ad3a16d8dbc8 186
itoumasa 0:ad3a16d8dbc8 187 /** Write to the 8 LEDs
itoumasa 0:ad3a16d8dbc8 188 *
itoumasa 0:ad3a16d8dbc8 189 * @param leds An 8 bit value to put on the LEDs
itoumasa 0:ad3a16d8dbc8 190 */
itoumasa 0:ad3a16d8dbc8 191 void leds(int val);
itoumasa 0:ad3a16d8dbc8 192
itoumasa 0:ad3a16d8dbc8 193 /** Locate the cursor on the 8x2 LCD
itoumasa 0:ad3a16d8dbc8 194 *
itoumasa 0:ad3a16d8dbc8 195 * @param x The horizontal position, from 0 to 7
itoumasa 0:ad3a16d8dbc8 196 * @param y The vertical position, from 0 to 1
itoumasa 0:ad3a16d8dbc8 197 */
itoumasa 0:ad3a16d8dbc8 198 void locate(int x, int y);
itoumasa 0:ad3a16d8dbc8 199
itoumasa 0:ad3a16d8dbc8 200 /** Clear the LCD
itoumasa 0:ad3a16d8dbc8 201 *
itoumasa 0:ad3a16d8dbc8 202 */
itoumasa 0:ad3a16d8dbc8 203 void cls(void);
itoumasa 0:ad3a16d8dbc8 204
itoumasa 0:ad3a16d8dbc8 205 /** Send a character directly to the 3pi serial interface
itoumasa 0:ad3a16d8dbc8 206 * @param c The character to send to the 3pi
itoumasa 0:ad3a16d8dbc8 207 */
itoumasa 0:ad3a16d8dbc8 208 int putc(int c);
itoumasa 0:ad3a16d8dbc8 209
itoumasa 0:ad3a16d8dbc8 210 /** Receive a character directly to the 3pi serial interface
itoumasa 0:ad3a16d8dbc8 211 * @returns c The character received from the 3pi
itoumasa 0:ad3a16d8dbc8 212 */
itoumasa 0:ad3a16d8dbc8 213 int getc();
itoumasa 0:ad3a16d8dbc8 214
itoumasa 0:ad3a16d8dbc8 215 /** Send a string buffer to the 3pi serial interface
itoumasa 0:ad3a16d8dbc8 216 * @param text A pointer to a char array
itoumasa 0:ad3a16d8dbc8 217 * @param int The character to send to the 3pi
itoumasa 0:ad3a16d8dbc8 218 */
itoumasa 0:ad3a16d8dbc8 219 int print(char* text, int length);
itoumasa 0:ad3a16d8dbc8 220
itoumasa 0:ad3a16d8dbc8 221 #ifdef MBED_RPC
itoumasa 0:ad3a16d8dbc8 222 virtual const struct rpc_method *get_rpc_methods();
itoumasa 0:ad3a16d8dbc8 223 #endif
itoumasa 0:ad3a16d8dbc8 224
itoumasa 0:ad3a16d8dbc8 225 private :
itoumasa 0:ad3a16d8dbc8 226
itoumasa 0:ad3a16d8dbc8 227 DigitalOut _nrst;
itoumasa 0:ad3a16d8dbc8 228 Serial _ser;
itoumasa 0:ad3a16d8dbc8 229
itoumasa 0:ad3a16d8dbc8 230 void motor (int motor, float speed);
itoumasa 0:ad3a16d8dbc8 231 virtual int _putc(int c);
itoumasa 0:ad3a16d8dbc8 232 virtual int _getc();
itoumasa 0:ad3a16d8dbc8 233
itoumasa 0:ad3a16d8dbc8 234 };
itoumasa 0:ad3a16d8dbc8 235
itoumasa 0:ad3a16d8dbc8 236 #endif