Diff: m3pijon/m3pijon.cpp

Revision:

1:3ac7462953df

Parent:

0:6e52eae6412a

--- a/m3pijon/m3pijon.cpp	Thu Mar 03 09:58:58 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,232 +0,0 @@
-/* m3pi Library
- *
- * Copyright (c) 2007-2010 cstyles
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "mbed.h"
-#include "m3pijon.h"
-
-m3pi::m3pi(PinName nrst, PinName tx, PinName rx) :  Stream("m3pi"), _nrst(nrst), _ser(tx, rx), _leds(p20,p19,p18,p17,p16,p15,p14,p13)  {
-    _leds = 0;
-    _ser.baud(115200);
-    reset();
-}
-
-void m3pi::reset () {
-    _nrst = 0;
-    wait (0.01);
-    _nrst = 1;
-    wait (0.1);
-}
-
-void m3pi::left_motor (float speed) {
-    motor(0,speed);
-}
-
-void m3pi::right_motor (float speed) {
-    motor(1,speed);
-}
-
-void m3pi::forward (float speed) {
-    motor(0,speed);
-    motor(1,speed);
-}
-
-void m3pi::backward (float speed) {
-    motor(0,-1.0*speed);
-    motor(1,-1.0*speed);
-}
-
-void m3pi::left (float speed) {
-    motor(0,speed);
-    motor(1,-1.0*speed);
-}
-
-void m3pi::right (float speed) {
-    motor(0,-1.0*speed);
-    motor(1,speed);
-}
-
-void m3pi::stop (void) {
-    motor(0,0.0);
-    motor(1,0.0);
-}
-
-void m3pi::motor (int motor, float speed) {
-    char opcode = 0x0;
-    if (speed > 0.0) {
-        if (motor==1)
-            opcode = M1_FORWARD;
-        else
-            opcode = M2_FORWARD;
-    } else {
-        if (motor==1)
-            opcode = M1_BACKWARD;
-        else
-            opcode = M2_BACKWARD;
-    }
-    unsigned char arg = 0x7f * abs(speed);
-
-    _ser.putc(opcode);
-    _ser.putc(arg);
-}
-
-float m3pi::battery() {
-    _ser.putc(SEND_BATTERY_MILLIVOLTS);
-    char lowbyte = _ser.getc();
-    char hibyte  = _ser.getc();
-    float v = ((lowbyte + (hibyte << 8))/1000.0);
-    return(v);
-}
-
-float m3pi::line_position() {
-    int pos = 0;
-    _ser.putc(SEND_LINE_POSITION);
-    pos = _ser.getc();
-    pos += _ser.getc() << 8;
-    
-    float fpos = ((float)pos - 2048.0)/2048.0;
-    return(fpos);
-}
-
-char m3pi::sensor_auto_calibrate() {
-    _ser.putc(AUTO_CALIBRATE);
-    return(_ser.getc());
-}
-
-
-void m3pi::calibrate(void) {
-    _ser.putc(PI_CALIBRATE);
-}
-
-void m3pi::reset_calibration() {
-    _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
-}
-
-void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
-    _ser.putc(max_speed);
-    _ser.putc(a);
-    _ser.putc(b);
-    _ser.putc(c);
-    _ser.putc(d);
-}
-
-void m3pi::PID_stop() {
-    _ser.putc(STOP_PID);
-}
-
-float m3pi::pot_voltage(void) {
-    int volt = 0;
-    _ser.putc(SEND_TRIMPOT);
-    volt = _ser.getc();
-    volt += _ser.getc() << 8;
-    return(volt);
-}
-
-
-void m3pi::leds(int val) {
-    _leds = val;
-}
-
-
-void m3pi::locate(int x, int y) {
-    _ser.putc(DO_LCD_GOTO_XY);
-    _ser.putc(x);
-    _ser.putc(y);
-}
-
-void m3pi::cls(void) {
-    _ser.putc(DO_CLEAR);
-}
-
-int m3pi::print (char* text, int length) {
-    _ser.putc(DO_PRINT);  
-    _ser.putc(length);       
-    for (int i = 0 ; i < length ; i++) {
-        _ser.putc(text[i]); 
-    }
-    return(0);
-}
-
-int m3pi::playtune (char* text, int length) {
-    _ser.putc(DO_PLAY);  
-    _ser.putc(length);       
-    for (int i = 0 ; i < length ; i++) {
-        _ser.putc(text[i]); 
-    }
-    return(0);
-}
-int m3pi::_putc (int c) {
-    _ser.putc(DO_PRINT);  
-    _ser.putc(0x1);       
-    _ser.putc(c);         
-    wait (0.001);
-    return(c);
-}
-
-int m3pi::_getc (void) {
-    char r = 0;
-    return(r);
-}
-
-int m3pi::putc (int c) {
-    return(_ser.putc(c));
-}
-
-int m3pi::getc (void) {
-    return(_ser.getc());
-}
-
-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;
-}
-#ifdef MBED_RPC
-const rpc_method *m3pi::get_rpc_methods() {
-    static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
-        { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
-        { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
-        { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
-        { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
-        { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
-        { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
-        { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
-        { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
-        { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
-
-
-        RPC_METHOD_SUPER(Base)
-    };
-    return rpc_methods;
-}
-#endif