Masterman / m3piExpandedCommandSet

This adds to the existing m3pi mbed library to add driving commands with speeds as integers ranging from -255 for 255, as does the serial slave program for the m3pi. Library for the m3pi robot. This works with a Pololu 3pi robot with the Serial Slave firmware, and exposes an API.

Fork of m3pi by Chris Styles

m3pi.h@9:3f9c47a7fc66, 2018-05-27 (annotated)

Committer:
kkillebrew
Date:
Sun May 27 22:06:09 2018 +0000
Revision:
9:3f9c47a7fc66
Parent:
8:4b7d6ea9b35b 
Overload methods to allow setting wheel speeds in the 0 - 255 range.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:e6020bd04b45 1 /* mbed m3pi Library
chris 0:e6020bd04b45 2 * Copyright (c) 2007-2010 cstyles
chris 0:e6020bd04b45 3 *
chris 0:e6020bd04b45 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
chris 0:e6020bd04b45 5 * of this software and associated documentation files (the "Software"), to deal
chris 0:e6020bd04b45 6 * in the Software without restriction, including without limitation the rights
chris 0:e6020bd04b45 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chris 0:e6020bd04b45 8 * copies of the Software, and to permit persons to whom the Software is
chris 0:e6020bd04b45 9 * furnished to do so, subject to the following conditions:
chris 0:e6020bd04b45 10 *
chris 0:e6020bd04b45 11 * The above copyright notice and this permission notice shall be included in
chris 0:e6020bd04b45 12 * all copies or substantial portions of the Software.
chris 0:e6020bd04b45 13 *
chris 0:e6020bd04b45 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chris 0:e6020bd04b45 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chris 0:e6020bd04b45 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chris 0:e6020bd04b45 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chris 0:e6020bd04b45 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chris 0:e6020bd04b45 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chris 0:e6020bd04b45 20 * THE SOFTWARE.
chris 0:e6020bd04b45 21 */
chris 0:e6020bd04b45 22
chris 0:e6020bd04b45 23 #ifndef M3PI_H
chris 0:e6020bd04b45 24 #define M3PI_H
chris 0:e6020bd04b45 25
chris 0:e6020bd04b45 26 #include "mbed.h"
chris 0:e6020bd04b45 27 #include "platform.h"
chris 0:e6020bd04b45 28
chris 0:e6020bd04b45 29 #ifdef MBED_RPC
chris 0:e6020bd04b45 30 #include "rpc.h"
chris 0:e6020bd04b45 31 #endif
chris 0:e6020bd04b45 32
chris 0:e6020bd04b45 33 #define SEND_SIGNATURE 0x81
chris 0:e6020bd04b45 34 #define SEND_RAW_SENSOR_VALUES 0x86
chris 0:e6020bd04b45 35 #define SEND_TRIMPOT 0xB0
chris 0:e6020bd04b45 36 #define SEND_BATTERY_MILLIVOLTS 0xB1
chris 0:e6020bd04b45 37 #define DO_PLAY 0xB3
chris 0:e6020bd04b45 38 #define PI_CALIBRATE 0xB4
chris 0:e6020bd04b45 39 #define DO_CLEAR 0xB7
chris 0:e6020bd04b45 40 #define DO_PRINT 0xB8
chris 0:e6020bd04b45 41 #define DO_LCD_GOTO_XY 0xB9
chris 0:e6020bd04b45 42 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
chris 0:e6020bd04b45 43 #define SEND_LINE_POSITION 0xB6
chris 0:e6020bd04b45 44 #define AUTO_CALIBRATE 0xBA
chris 0:e6020bd04b45 45 #define SET_PID 0xBB
chris 0:e6020bd04b45 46 #define STOP_PID 0xBC
chris 0:e6020bd04b45 47 #define M1_FORWARD 0xC1
chris 0:e6020bd04b45 48 #define M1_BACKWARD 0xC2
chris 0:e6020bd04b45 49 #define M2_FORWARD 0xC5
chris 0:e6020bd04b45 50 #define M2_BACKWARD 0xC6
chris 0:e6020bd04b45 51
chris 0:e6020bd04b45 52
chris 0:e6020bd04b45 53
chris 0:e6020bd04b45 54 /** m3pi control class
chris 0:e6020bd04b45 55 *
chris 0:e6020bd04b45 56 * Example:
chris 0:e6020bd04b45 57 * @code
chris 0:e6020bd04b45 58 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
chris 0:e6020bd04b45 59
chris 0:e6020bd04b45 60 #include "mbed.h"
chris 0:e6020bd04b45 61 #include "m3pi.h"
chris 0:e6020bd04b45 62
chris 7:9b128cebb3c2 63 m3pi pi;
chris 0:e6020bd04b45 64
chris 0:e6020bd04b45 65 int main() {
chris 0:e6020bd04b45 66
chris 0:e6020bd04b45 67 wait(0.5);
chris 0:e6020bd04b45 68
chris 0:e6020bd04b45 69 pi.forward(0.5);
chris 0:e6020bd04b45 70 wait (0.5);
chris 0:e6020bd04b45 71 pi.left(0.5);
chris 0:e6020bd04b45 72 wait (0.5);
chris 0:e6020bd04b45 73 pi.backward(0.5);
chris 0:e6020bd04b45 74 wait (0.5);
chris 0:e6020bd04b45 75 pi.right(0.5);
chris 0:e6020bd04b45 76 wait (0.5);
chris 0:e6020bd04b45 77
chris 0:e6020bd04b45 78 pi.stop();
chris 0:e6020bd04b45 79
chris 0:e6020bd04b45 80 }
chris 0:e6020bd04b45 81 * @endcode
chris 0:e6020bd04b45 82 */
chris 0:e6020bd04b45 83 class m3pi : public Stream {
chris 0:e6020bd04b45 84
chris 0:e6020bd04b45 85 // Public functions
chris 0:e6020bd04b45 86 public:
chris 0:e6020bd04b45 87
chris 0:e6020bd04b45 88 /** Create the m3pi object connected to the default pins
chris 0:e6020bd04b45 89 *
chris 7:9b128cebb3c2 90 * @param nrst GPIO pin used for reset. Default is p23
chris 0:e6020bd04b45 91 * @param tx Serial transmit pin. Default is p9
chris 0:e6020bd04b45 92 * @param rx Serial receive pin. Default is p10
chris 0:e6020bd04b45 93 */
chris 7:9b128cebb3c2 94 m3pi();
chris 7:9b128cebb3c2 95
chris 7:9b128cebb3c2 96
chris 8:4b7d6ea9b35b 97 /** Create the m3pi object connected to specific pins
chris 7:9b128cebb3c2 98 *
chris 7:9b128cebb3c2 99 */
chris 0:e6020bd04b45 100 m3pi(PinName nrst, PinName tx, PinName rx);
chris 0:e6020bd04b45 101
chris 0:e6020bd04b45 102
chris 7:9b128cebb3c2 103
chris 0:e6020bd04b45 104 /** Force a hardware reset of the 3pi
chris 0:e6020bd04b45 105 */
chris 0:e6020bd04b45 106 void reset (void);
kkillebrew 9:3f9c47a7fc66 107
kkillebrew 9:3f9c47a7fc66 108 /* Accept speeds in -255 to 255 range, as does the m3pi,
kkillebrew 9:3f9c47a7fc66 109 ** for easier serial passthrough of byte commands.
kkillebrew 9:3f9c47a7fc66 110 */
kkillebrew 9:3f9c47a7fc66 111 void left_motor (int speed);
kkillebrew 9:3f9c47a7fc66 112 void right_motor (int speed);
chris 0:e6020bd04b45 113
chris 0:e6020bd04b45 114 /** Directly control the speed and direction of the left motor
chris 0:e6020bd04b45 115 *
chris 0:e6020bd04b45 116 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chris 0:e6020bd04b45 117 */
chris 0:e6020bd04b45 118 void left_motor (float speed);
chris 0:e6020bd04b45 119
chris 0:e6020bd04b45 120 /** Directly control the speed and direction of the right motor
chris 0:e6020bd04b45 121 *
chris 0:e6020bd04b45 122 * @param speed A normalised number -1.0 - 1.0 represents the full range.
chris 0:e6020bd04b45 123 */
chris 0:e6020bd04b45 124 void right_motor (float speed);
chris 0:e6020bd04b45 125
chris 0:e6020bd04b45 126 /** Drive both motors forward as the same speed
chris 0:e6020bd04b45 127 *
chris 0:e6020bd04b45 128 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 129 */
chris 0:e6020bd04b45 130 void forward (float speed);
chris 0:e6020bd04b45 131
chris 0:e6020bd04b45 132 /** Drive both motors backward as the same speed
chris 0:e6020bd04b45 133 *
chris 0:e6020bd04b45 134 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 135 */
chris 0:e6020bd04b45 136 void backward (float speed);
chris 0:e6020bd04b45 137
chris 0:e6020bd04b45 138 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
chris 0:e6020bd04b45 139 *
chris 0:e6020bd04b45 140 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 141 */
chris 0:e6020bd04b45 142 void left (float speed);
chris 0:e6020bd04b45 143
chris 0:e6020bd04b45 144 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
chris 0:e6020bd04b45 145 * @param speed A normalised number 0 - 1.0 represents the full range.
chris 0:e6020bd04b45 146 */
chris 0:e6020bd04b45 147 void right (float speed);
chris 0:e6020bd04b45 148
chris 0:e6020bd04b45 149 /** Stop both motors
chris 0:e6020bd04b45 150 *
chris 0:e6020bd04b45 151 */
chris 0:e6020bd04b45 152 void stop (void);
chris 0:e6020bd04b45 153
chris 0:e6020bd04b45 154 /** Read the voltage of the potentiometer on the 3pi
chris 0:e6020bd04b45 155 * @returns voltage as a float
chris 0:e6020bd04b45 156 *
chris 0:e6020bd04b45 157 */
chris 0:e6020bd04b45 158 float pot_voltage(void);
chris 0:e6020bd04b45 159
chris 0:e6020bd04b45 160 /** Read the battery voltage on the 3pi
chris 0:e6020bd04b45 161 * @returns battery voltage as a float
chris 0:e6020bd04b45 162 */
chris 0:e6020bd04b45 163 float battery(void);
chris 0:e6020bd04b45 164
chris 0:e6020bd04b45 165 /** Read the position of the detected line
chris 0:e6020bd04b45 166 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
chris 7:9b128cebb3c2 167 * -1.0 means line is on the left, or the line has been lost
chris 7:9b128cebb3c2 168 * 0.0 means the line is in the middle
chris 7:9b128cebb3c2 169 * 1.0 means the line is on the right
chris 0:e6020bd04b45 170 */
chris 0:e6020bd04b45 171 float line_position (void);
chris 0:e6020bd04b45 172
chris 0:e6020bd04b45 173
chris 7:9b128cebb3c2 174 /** Calibrate the sensors. This turns the robot left then right, looking for a line
chris 0:e6020bd04b45 175 *
chris 0:e6020bd04b45 176 */
chris 0:e6020bd04b45 177 char sensor_auto_calibrate (void);
chris 0:e6020bd04b45 178
chris 0:e6020bd04b45 179 /** Set calibration manually to the current settings.
chris 0:e6020bd04b45 180 *
chris 0:e6020bd04b45 181 */
chris 0:e6020bd04b45 182 void calibrate(void);
chris 0:e6020bd04b45 183
chris 0:e6020bd04b45 184 /** Clear the current calibration settings
chris 0:e6020bd04b45 185 *
chris 0:e6020bd04b45 186 */
chris 0:e6020bd04b45 187 void reset_calibration (void);
chris 0:e6020bd04b45 188
chris 1:816a80dcc1a3 189 void PID_start(int max_speed, int a, int b, int c, int d);
chris 1:816a80dcc1a3 190
chris 1:816a80dcc1a3 191 void PID_stop();
chris 1:816a80dcc1a3 192
chris 5:09fb0636207b 193 /** Write to the 8 LEDs
chris 5:09fb0636207b 194 *
chris 5:09fb0636207b 195 * @param leds An 8 bit value to put on the LEDs
chris 5:09fb0636207b 196 */
chris 5:09fb0636207b 197 void leds(int val);
chris 5:09fb0636207b 198
chris 0:e6020bd04b45 199 /** Locate the cursor on the 8x2 LCD
chris 0:e6020bd04b45 200 *
chris 0:e6020bd04b45 201 * @param x The horizontal position, from 0 to 7
chris 0:e6020bd04b45 202 * @param y The vertical position, from 0 to 1
chris 0:e6020bd04b45 203 */
chris 0:e6020bd04b45 204 void locate(int x, int y);
chris 0:e6020bd04b45 205
chris 0:e6020bd04b45 206 /** Clear the LCD
chris 0:e6020bd04b45 207 *
chris 0:e6020bd04b45 208 */
chris 0:e6020bd04b45 209 void cls(void);
chris 0:e6020bd04b45 210
chris 0:e6020bd04b45 211 /** Send a character directly to the 3pi serial interface
chris 0:e6020bd04b45 212 * @param c The character to send to the 3pi
chris 0:e6020bd04b45 213 */
chris 0:e6020bd04b45 214 int putc(int c);
chris 0:e6020bd04b45 215
chris 0:e6020bd04b45 216 /** Receive a character directly to the 3pi serial interface
chris 0:e6020bd04b45 217 * @returns c The character received from the 3pi
chris 0:e6020bd04b45 218 */
chris 0:e6020bd04b45 219 int getc();
chris 0:e6020bd04b45 220
chris 0:e6020bd04b45 221 /** Send a string buffer to the 3pi serial interface
chris 0:e6020bd04b45 222 * @param text A pointer to a char array
chris 0:e6020bd04b45 223 * @param int The character to send to the 3pi
chris 0:e6020bd04b45 224 */
chris 0:e6020bd04b45 225 int print(char* text, int length);
chris 0:e6020bd04b45 226
chris 0:e6020bd04b45 227 #ifdef MBED_RPC
chris 0:e6020bd04b45 228 virtual const struct rpc_method *get_rpc_methods();
chris 0:e6020bd04b45 229 #endif
chris 0:e6020bd04b45 230
chris 0:e6020bd04b45 231 private :
chris 0:e6020bd04b45 232
chris 0:e6020bd04b45 233 DigitalOut _nrst;
chris 0:e6020bd04b45 234 Serial _ser;
chris 4:54c673c71fc0 235
chris 0:e6020bd04b45 236 void motor (int motor, float speed);
chris 0:e6020bd04b45 237 virtual int _putc(int c);
chris 0:e6020bd04b45 238 virtual int _getc();
chris 0:e6020bd04b45 239
chris 0:e6020bd04b45 240 };
chris 0:e6020bd04b45 241
chris 0:e6020bd04b45 242 #endif