Adrien Aflalo
Library for the m3pi robot. This works with a Pololu 3pi robot with the Serial Slave firmware, and exposes and API. Added a read sensors function
Dependents: pololu_mpi3_V2 pololu_mpi3
Fork of
m3pi
by 
Chris Styles
REZO
Revision 9:b256a26ca39c, committed 2015-11-22
- Comitter:
- adrienPPS
- Date:
- Sun Nov 22 02:05:03 2015 +0000
- Parent:
- 8:4b7d6ea9b35b
- Child:
- 10:b84673574e1a
- Commit message:
- Ajoute fonction lecture sensors
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 Nov 22 02:05:03 2015 +0000
@@ -195,6 +195,22 @@
}
+void m3pi::readsensor (int *sensor){
+
+ _ser.putc(SEND_CALIBRATED_SENSOR_VALUES);
+ sensor[0] = _ser.getc();
+ sensor[0] += _ser.getc() << 8;
+ sensor[1] = _ser.getc();
+ sensor[1] += _ser.getc() << 8;
+ sensor[2] = _ser.getc();
+ sensor[2] += _ser.getc() << 8;
+ sensor[3] = _ser.getc();
+ sensor[3] += _ser.getc() << 8;
+ sensor[4] = _ser.getc();
+ sensor[4] += _ser.getc() << 8;
+
+ return;
+}
--- a/m3pi.h Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.h Sun Nov 22 02:05:03 2015 +0000
@@ -32,6 +32,7 @@
#define SEND_SIGNATURE 0x81
#define SEND_RAW_SENSOR_VALUES 0x86
+#define SEND_CALIBRATED_SENSOR_VALUES 0x87
#define SEND_TRIMPOT 0xB0
#define SEND_BATTERY_MILLIVOLTS 0xB1
#define DO_PLAY 0xB3
@@ -217,6 +218,11 @@
* @param int The character to send to the 3pi
*/
int print(char* text, int length);
+
+ /** Read IR values
+ * @param array of 5
+ */
+ void readsensor (int *sensor);
#ifdef MBED_RPC
virtual const struct rpc_method *get_rpc_methods();