Jon Marsh / Mbed 2 deprecated m3pi_MazeSolver

This is work in progress - maze solving with m3pi robot. Not complete

Dependencies:   mbed m3pimaze

m3pijon/m3pijon.h@0:6e52eae6412a, 2011-03-03 (annotated)

Committer:
jonmarsh
Date:
Thu Mar 03 09:58:58 2011 +0000
Revision:
0:6e52eae6412a

        

        
Who changed what in which revision?

        

            
                
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/* mbed m3pi Library





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 * Copyright (c) 2007-2010 cstyles





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 *





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 * Permission is hereby granted, free of charge, to any person obtaining a copy





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 * of this software and associated documentation files (the "Software"), to deal





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 * in the Software without restriction, including without limitation the rights





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 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell





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 * copies of the Software, and to permit persons to whom the Software is





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 * furnished to do so, subject to the following conditions:





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 *





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 * The above copyright notice and this permission notice shall be included in





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 * all copies or substantial portions of the Software.





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 *





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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR





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 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,





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 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE





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 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER





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 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,





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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN





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 * THE SOFTWARE.





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 */





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#ifndef M3PI_H





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#define M3PI_H





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#include "mbed.h"





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#include "platform.h"





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#ifdef MBED_RPC





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#include "rpc.h"





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#endif





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#define SEND_SIGNATURE 0x81





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#define SEND_RAW_SENSOR_VALUES 0x86





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#define SEND_CALIBRATED_SENSOR_VALUES 0x87





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#define SEND_TRIMPOT 0xB0





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#define SEND_BATTERY_MILLIVOLTS 0xB1





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#define DO_PLAY 0xB3





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#define PI_CALIBRATE 0xB4





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#define DO_CLEAR 0xB7





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#define DO_PRINT 0xB8





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#define DO_LCD_GOTO_XY 0xB9





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#define LINE_SENSORS_RESET_CALIBRATION 0xB5





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#define SEND_LINE_POSITION 0xB6





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#define AUTO_CALIBRATE 0xBA





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#define SET_PID 0xBB





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#define STOP_PID 0xBC





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#define M1_FORWARD 0xC1





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#define M1_BACKWARD 0xC2





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#define M2_FORWARD 0xC5





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#define M2_BACKWARD 0xC6





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/** m3pi control class





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 *





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 * Example:





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 * @code





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 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second





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   #include "mbed.h"





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   #include "m3pimusic.h"





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   m3pi pi(p8,p9,p10);





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   int main() {





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     wait(0.5);





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     pi.forward(0.5);





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     wait (0.5);





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     pi.left(0.5);





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     wait (0.5);





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     pi.backward(0.5);





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     wait (0.5);





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     pi.right(0.5);





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     wait (0.5);





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     pi.stop();





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 }





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 * @endcode





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 */





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class m3pi :  public Stream {





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    // Public functions





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public:





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    /** Create the m3pi object connected to the default pins





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     *





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     * @param nrst GPIO pin used for reset. Default is p8





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     * @param tx Serial transmit pin. Default is p9





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     * @param rx Serial receive pin. Default is p10





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     */





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    m3pi(PinName nrst, PinName tx, PinName rx);





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    /** Force a hardware reset of the 3pi





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     */





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    void reset (void);





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    /** Directly control the speed and direction of the left motor





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     *





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     * @param speed A normalised number -1.0 - 1.0 represents the full range.





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     */





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    void left_motor (float speed);





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    /** Directly control the speed and direction of the right motor





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     *





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     * @param speed A normalised number -1.0 - 1.0 represents the full range.





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     */





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    void right_motor (float speed);





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    /** Drive both motors forward as the same speed





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     *





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     * @param speed A normalised number 0 - 1.0 represents the full range.





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     */





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    void forward (float speed);





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    /** Drive both motors backward as the same speed





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     *





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     * @param speed A normalised number 0 - 1.0 represents the full range.





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     */





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    void backward (float speed);





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    /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot





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     *





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     * @param speed A normalised number 0 - 1.0 represents the full range.





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     */





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    void left (float speed);





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    /** Drive left motor forward and right motor backwards at the same speed to turn on the spot





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     *





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     * @param speed A normalised number 0 - 1.0 represents the full range.





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     */





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    void right (float speed);





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    /** Stop both motors





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     *





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     */





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    void stop (void);





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    /** Read the voltage of the potentiometer on the 3pi





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     * @returns voltage as a float





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     *





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     */





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    float pot_voltage(void);





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    /** Read the battery voltage on the 3pi





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     * @returns battery voltage as a float





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     *





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     */





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    float battery(void);





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    /** Read the position of the detected line





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     * @returns position as A normalised number -1.0 - 1.0 represents the full range.





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     *





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     */





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    float line_position (void);





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    /** Calibrate the sensors. This turns the robot left then right, loking for a line





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     *





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     */





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    char sensor_auto_calibrate (void);





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    /** Set calibration manually to the current settings.





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     *





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     */





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    void calibrate(void);





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    /** Clear the current calibration settings





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     *





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     */





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    void reset_calibration (void);





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    void PID_start(int max_speed, int a, int b, int c, int d);





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    void PID_stop();





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    /** Write to the 8 LEDs





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     *





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     * @param leds An 8 bit value to put on the LEDs





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     */





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    void leds(int val);





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    /** Locate the cursor on the 8x2 LCD





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     *





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     * @param x The horizontal position, from 0 to 7





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     * @param y The vertical position, from 0 to 1





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     */





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    void locate(int x, int y);





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    /** Clear the LCD





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     *





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     */





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    void cls(void);





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    /** Send a character directly to the 3pi serial interface





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     * @param c The character to send to the 3pi





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     */





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    int putc(int c);





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    /** Receive a character directly to the 3pi serial interface





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     * @returns c The character received from the 3pi





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     */





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    int getc();





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    /** Send a string buffer to the 3pi serial interface





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     * @param text A pointer to a char array





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     * @param int The character to send to the 3pi





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     */





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    int print(char* text, int length);





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    /** Play a tune





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    */





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    int playtune(char* text, int length);





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    /**





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    * Read the calibrated value of a sensor





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    * @param sensor Pointer to array sensor [0-4]





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    * @param values returned in the range 0-1000 where 1000=completely dark





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    */





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    void readsensor(int *sensor);





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#ifdef MBED_RPC





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    virtual const struct rpc_method *get_rpc_methods();





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#endif





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private :





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    DigitalOut _nrst;





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    Serial _ser;





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    BusOut _leds;





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    void motor (int motor, float speed);





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    virtual int _putc(int c);





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    virtual int _getc();





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};





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#endif