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

Files at this revision

API Documentation at this revision

Revision 9:3f9c47a7fc66, committed 2018-05-27

Comitter:
kkillebrew
Date:
Sun May 27 22:06:09 2018 +0000
Parent:
8:4b7d6ea9b35b
Commit message:
Overload methods to allow setting wheel speeds in the 0 - 255 range.

Changed in this revision

m3pi.cpp Show annotated file Show diff for this revision Revisions of this file
m3pi.h Show annotated file Show diff for this revision Revisions of this file 
--- a/m3pi.cpp	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.cpp	Sun May 27 22:06:09 2018 +0000
@@ -75,6 +75,26 @@
     motor(1,0.0);
 }
 
+void m3pi::left_motor(int speed) {
+    if (speed > 0) {
+        _ser.putc(M1_FORWARD);
+        _ser.putc(speed);
+    } else {
+        _ser.putc(M1_BACKWARD);
+        _ser.putc(-speed);
+    }
+}
+
+void m3pi::right_motor(int speed) {
+    if (speed > 0) {
+        _ser.putc(M2_FORWARD);
+        _ser.putc(speed);
+    } else {
+        _ser.putc(M2_BACKWARD);
+        _ser.putc(-speed);
+    }
+}
+
 void m3pi::motor (int motor, float speed) {
     char opcode = 0x0;
     if (speed > 0.0) {

--- a/m3pi.h	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.h	Sun May 27 22:06:09 2018 +0000
@@ -104,6 +104,12 @@
     /** Force a hardware reset of the 3pi
      */
     void reset (void);
+    
+    /* Accept speeds in -255 to 255 range, as does the m3pi,
+     ** for easier serial passthrough of byte commands.
+     */
+    void left_motor (int speed);
+    void right_motor (int speed);
 
     /** Directly control the speed and direction of the left motor
      *