m3pimaze - Adds ability to play a tune and to directly read …

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Adds ability to play a tune and to directly read sensor values

Dependents: m3pi_MazeSolver m3pi_MazeSolverLVC mbeddedNets hiworld

m3pimaze.cpp@0:e1dac380452c, 2011-03-03 (annotated)

Committer:: jonmarsh
Date:: Thu Mar 03 10:07:21 2011 +0000
Revision:: 0:e1dac380452c

Who changed what in which revision?

User	Revision	Line number	New contents of line
jonmarsh	0:e1dac380452c	1	/* m3pi Library
jonmarsh	0:e1dac380452c	2	*
jonmarsh	0:e1dac380452c	3	* Copyright (c) 2007-2010 cstyles
jonmarsh	0:e1dac380452c	4	*
jonmarsh	0:e1dac380452c	5	* Permission is hereby granted, free of charge, to any person obtaining a copy
jonmarsh	0:e1dac380452c	6	* of this software and associated documentation files (the "Software"), to deal
jonmarsh	0:e1dac380452c	7	* in the Software without restriction, including without limitation the rights
jonmarsh	0:e1dac380452c	8	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jonmarsh	0:e1dac380452c	9	* copies of the Software, and to permit persons to whom the Software is
jonmarsh	0:e1dac380452c	10	* furnished to do so, subject to the following conditions:
jonmarsh	0:e1dac380452c	11	*
jonmarsh	0:e1dac380452c	12	* The above copyright notice and this permission notice shall be included in
jonmarsh	0:e1dac380452c	13	* all copies or substantial portions of the Software.
jonmarsh	0:e1dac380452c	14	*
jonmarsh	0:e1dac380452c	15	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jonmarsh	0:e1dac380452c	16	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jonmarsh	0:e1dac380452c	17	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jonmarsh	0:e1dac380452c	18	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jonmarsh	0:e1dac380452c	19	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jonmarsh	0:e1dac380452c	20	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jonmarsh	0:e1dac380452c	21	* THE SOFTWARE.
jonmarsh	0:e1dac380452c	22	*/
jonmarsh	0:e1dac380452c	23
jonmarsh	0:e1dac380452c	24	#include "mbed.h"
jonmarsh	0:e1dac380452c	25	#include "m3pimaze.h"
jonmarsh	0:e1dac380452c	26
jonmarsh	0:e1dac380452c	27	m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx), _leds(p20,p19,p18,p17,p16,p15,p14,p13) {
jonmarsh	0:e1dac380452c	28	_leds = 0;
jonmarsh	0:e1dac380452c	29	_ser.baud(115200);
jonmarsh	0:e1dac380452c	30	reset();
jonmarsh	0:e1dac380452c	31	}
jonmarsh	0:e1dac380452c	32
jonmarsh	0:e1dac380452c	33	void m3pi::reset () {
jonmarsh	0:e1dac380452c	34	_nrst = 0;
jonmarsh	0:e1dac380452c	35	wait (0.01);
jonmarsh	0:e1dac380452c	36	_nrst = 1;
jonmarsh	0:e1dac380452c	37	wait (0.1);
jonmarsh	0:e1dac380452c	38	}
jonmarsh	0:e1dac380452c	39
jonmarsh	0:e1dac380452c	40	void m3pi::left_motor (float speed) {
jonmarsh	0:e1dac380452c	41	motor(0,speed);
jonmarsh	0:e1dac380452c	42	}
jonmarsh	0:e1dac380452c	43
jonmarsh	0:e1dac380452c	44	void m3pi::right_motor (float speed) {
jonmarsh	0:e1dac380452c	45	motor(1,speed);
jonmarsh	0:e1dac380452c	46	}
jonmarsh	0:e1dac380452c	47
jonmarsh	0:e1dac380452c	48	void m3pi::forward (float speed) {
jonmarsh	0:e1dac380452c	49	motor(0,speed);
jonmarsh	0:e1dac380452c	50	motor(1,speed);
jonmarsh	0:e1dac380452c	51	}
jonmarsh	0:e1dac380452c	52
jonmarsh	0:e1dac380452c	53	void m3pi::backward (float speed) {
jonmarsh	0:e1dac380452c	54	motor(0,-1.0*speed);
jonmarsh	0:e1dac380452c	55	motor(1,-1.0*speed);
jonmarsh	0:e1dac380452c	56	}
jonmarsh	0:e1dac380452c	57
jonmarsh	0:e1dac380452c	58	void m3pi::left (float speed) {
jonmarsh	0:e1dac380452c	59	motor(0,speed);
jonmarsh	0:e1dac380452c	60	motor(1,-1.0*speed);
jonmarsh	0:e1dac380452c	61	}
jonmarsh	0:e1dac380452c	62
jonmarsh	0:e1dac380452c	63	void m3pi::right (float speed) {
jonmarsh	0:e1dac380452c	64	motor(0,-1.0*speed);
jonmarsh	0:e1dac380452c	65	motor(1,speed);
jonmarsh	0:e1dac380452c	66	}
jonmarsh	0:e1dac380452c	67
jonmarsh	0:e1dac380452c	68	void m3pi::stop (void) {
jonmarsh	0:e1dac380452c	69	motor(0,0.0);
jonmarsh	0:e1dac380452c	70	motor(1,0.0);
jonmarsh	0:e1dac380452c	71	}
jonmarsh	0:e1dac380452c	72
jonmarsh	0:e1dac380452c	73	void m3pi::motor (int motor, float speed) {
jonmarsh	0:e1dac380452c	74	char opcode = 0x0;
jonmarsh	0:e1dac380452c	75	if (speed > 0.0) {
jonmarsh	0:e1dac380452c	76	if (motor==1)
jonmarsh	0:e1dac380452c	77	opcode = M1_FORWARD;
jonmarsh	0:e1dac380452c	78	else
jonmarsh	0:e1dac380452c	79	opcode = M2_FORWARD;
jonmarsh	0:e1dac380452c	80	} else {
jonmarsh	0:e1dac380452c	81	if (motor==1)
jonmarsh	0:e1dac380452c	82	opcode = M1_BACKWARD;
jonmarsh	0:e1dac380452c	83	else
jonmarsh	0:e1dac380452c	84	opcode = M2_BACKWARD;
jonmarsh	0:e1dac380452c	85	}
jonmarsh	0:e1dac380452c	86	unsigned char arg = 0x7f * abs(speed);
jonmarsh	0:e1dac380452c	87
jonmarsh	0:e1dac380452c	88	_ser.putc(opcode);
jonmarsh	0:e1dac380452c	89	_ser.putc(arg);
jonmarsh	0:e1dac380452c	90	}
jonmarsh	0:e1dac380452c	91
jonmarsh	0:e1dac380452c	92	float m3pi::battery() {
jonmarsh	0:e1dac380452c	93	_ser.putc(SEND_BATTERY_MILLIVOLTS);
jonmarsh	0:e1dac380452c	94	char lowbyte = _ser.getc();
jonmarsh	0:e1dac380452c	95	char hibyte = _ser.getc();
jonmarsh	0:e1dac380452c	96	float v = ((lowbyte + (hibyte << 8))/1000.0);
jonmarsh	0:e1dac380452c	97	return(v);
jonmarsh	0:e1dac380452c	98	}
jonmarsh	0:e1dac380452c	99
jonmarsh	0:e1dac380452c	100	float m3pi::line_position() {
jonmarsh	0:e1dac380452c	101	int pos = 0;
jonmarsh	0:e1dac380452c	102	_ser.putc(SEND_LINE_POSITION);
jonmarsh	0:e1dac380452c	103	pos = _ser.getc();
jonmarsh	0:e1dac380452c	104	pos += _ser.getc() << 8;
jonmarsh	0:e1dac380452c	105
jonmarsh	0:e1dac380452c	106	float fpos = ((float)pos - 2048.0)/2048.0;
jonmarsh	0:e1dac380452c	107	return(fpos);
jonmarsh	0:e1dac380452c	108	}
jonmarsh	0:e1dac380452c	109
jonmarsh	0:e1dac380452c	110	char m3pi::sensor_auto_calibrate() {
jonmarsh	0:e1dac380452c	111	_ser.putc(AUTO_CALIBRATE);
jonmarsh	0:e1dac380452c	112	return(_ser.getc());
jonmarsh	0:e1dac380452c	113	}
jonmarsh	0:e1dac380452c	114
jonmarsh	0:e1dac380452c	115
jonmarsh	0:e1dac380452c	116	void m3pi::calibrate(void) {
jonmarsh	0:e1dac380452c	117	_ser.putc(PI_CALIBRATE);
jonmarsh	0:e1dac380452c	118	}
jonmarsh	0:e1dac380452c	119
jonmarsh	0:e1dac380452c	120	void m3pi::reset_calibration() {
jonmarsh	0:e1dac380452c	121	_ser.putc(LINE_SENSORS_RESET_CALIBRATION);
jonmarsh	0:e1dac380452c	122	}
jonmarsh	0:e1dac380452c	123
jonmarsh	0:e1dac380452c	124	void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
jonmarsh	0:e1dac380452c	125	_ser.putc(max_speed);
jonmarsh	0:e1dac380452c	126	_ser.putc(a);
jonmarsh	0:e1dac380452c	127	_ser.putc(b);
jonmarsh	0:e1dac380452c	128	_ser.putc(c);
jonmarsh	0:e1dac380452c	129	_ser.putc(d);
jonmarsh	0:e1dac380452c	130	}
jonmarsh	0:e1dac380452c	131
jonmarsh	0:e1dac380452c	132	void m3pi::PID_stop() {
jonmarsh	0:e1dac380452c	133	_ser.putc(STOP_PID);
jonmarsh	0:e1dac380452c	134	}
jonmarsh	0:e1dac380452c	135
jonmarsh	0:e1dac380452c	136	float m3pi::pot_voltage(void) {
jonmarsh	0:e1dac380452c	137	int volt = 0;
jonmarsh	0:e1dac380452c	138	_ser.putc(SEND_TRIMPOT);
jonmarsh	0:e1dac380452c	139	volt = _ser.getc();
jonmarsh	0:e1dac380452c	140	volt += _ser.getc() << 8;
jonmarsh	0:e1dac380452c	141	return(volt);
jonmarsh	0:e1dac380452c	142	}
jonmarsh	0:e1dac380452c	143
jonmarsh	0:e1dac380452c	144
jonmarsh	0:e1dac380452c	145	void m3pi::leds(int val) {
jonmarsh	0:e1dac380452c	146	_leds = val;
jonmarsh	0:e1dac380452c	147	}
jonmarsh	0:e1dac380452c	148
jonmarsh	0:e1dac380452c	149
jonmarsh	0:e1dac380452c	150	void m3pi::locate(int x, int y) {
jonmarsh	0:e1dac380452c	151	_ser.putc(DO_LCD_GOTO_XY);
jonmarsh	0:e1dac380452c	152	_ser.putc(x);
jonmarsh	0:e1dac380452c	153	_ser.putc(y);
jonmarsh	0:e1dac380452c	154	}
jonmarsh	0:e1dac380452c	155
jonmarsh	0:e1dac380452c	156	void m3pi::cls(void) {
jonmarsh	0:e1dac380452c	157	_ser.putc(DO_CLEAR);
jonmarsh	0:e1dac380452c	158	}
jonmarsh	0:e1dac380452c	159
jonmarsh	0:e1dac380452c	160	int m3pi::print (char* text, int length) {
jonmarsh	0:e1dac380452c	161	_ser.putc(DO_PRINT);
jonmarsh	0:e1dac380452c	162	_ser.putc(length);
jonmarsh	0:e1dac380452c	163	for (int i = 0 ; i < length ; i++) {
jonmarsh	0:e1dac380452c	164	_ser.putc(text[i]);
jonmarsh	0:e1dac380452c	165	}
jonmarsh	0:e1dac380452c	166	return(0);
jonmarsh	0:e1dac380452c	167	}
jonmarsh	0:e1dac380452c	168
jonmarsh	0:e1dac380452c	169	int m3pi::playtune (char* text, int length) {
jonmarsh	0:e1dac380452c	170	_ser.putc(DO_PLAY);
jonmarsh	0:e1dac380452c	171	_ser.putc(length);
jonmarsh	0:e1dac380452c	172	for (int i = 0 ; i < length ; i++) {
jonmarsh	0:e1dac380452c	173	_ser.putc(text[i]);
jonmarsh	0:e1dac380452c	174	}
jonmarsh	0:e1dac380452c	175	return(0);
jonmarsh	0:e1dac380452c	176	}
jonmarsh	0:e1dac380452c	177	int m3pi::_putc (int c) {
jonmarsh	0:e1dac380452c	178	_ser.putc(DO_PRINT);
jonmarsh	0:e1dac380452c	179	_ser.putc(0x1);
jonmarsh	0:e1dac380452c	180	_ser.putc(c);
jonmarsh	0:e1dac380452c	181	wait (0.001);
jonmarsh	0:e1dac380452c	182	return(c);
jonmarsh	0:e1dac380452c	183	}
jonmarsh	0:e1dac380452c	184
jonmarsh	0:e1dac380452c	185	int m3pi::_getc (void) {
jonmarsh	0:e1dac380452c	186	char r = 0;
jonmarsh	0:e1dac380452c	187	return(r);
jonmarsh	0:e1dac380452c	188	}
jonmarsh	0:e1dac380452c	189
jonmarsh	0:e1dac380452c	190	int m3pi::putc (int c) {
jonmarsh	0:e1dac380452c	191	return(_ser.putc(c));
jonmarsh	0:e1dac380452c	192	}
jonmarsh	0:e1dac380452c	193
jonmarsh	0:e1dac380452c	194	int m3pi::getc (void) {
jonmarsh	0:e1dac380452c	195	return(_ser.getc());
jonmarsh	0:e1dac380452c	196	}
jonmarsh	0:e1dac380452c	197
jonmarsh	0:e1dac380452c	198	void m3pi::readsensor (int *sensor){
jonmarsh	0:e1dac380452c	199
jonmarsh	0:e1dac380452c	200	_ser.putc(SEND_CALIBRATED_SENSOR_VALUES);
jonmarsh	0:e1dac380452c	201	sensor[0] = _ser.getc();
jonmarsh	0:e1dac380452c	202	sensor[0] += _ser.getc() << 8;
jonmarsh	0:e1dac380452c	203	sensor[1] = _ser.getc();
jonmarsh	0:e1dac380452c	204	sensor[1] += _ser.getc() << 8;
jonmarsh	0:e1dac380452c	205	sensor[2] = _ser.getc();
jonmarsh	0:e1dac380452c	206	sensor[2] += _ser.getc() << 8;
jonmarsh	0:e1dac380452c	207	sensor[3] = _ser.getc();
jonmarsh	0:e1dac380452c	208	sensor[3] += _ser.getc() << 8;
jonmarsh	0:e1dac380452c	209	sensor[4] = _ser.getc();
jonmarsh	0:e1dac380452c	210	sensor[4] += _ser.getc() << 8;
jonmarsh	0:e1dac380452c	211
jonmarsh	0:e1dac380452c	212	return;
jonmarsh	0:e1dac380452c	213	}
jonmarsh	0:e1dac380452c	214	#ifdef MBED_RPC
jonmarsh	0:e1dac380452c	215	const rpc_method *m3pi::get_rpc_methods() {
jonmarsh	0:e1dac380452c	216	static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
jonmarsh	0:e1dac380452c	217	{ "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
jonmarsh	0:e1dac380452c	218	{ "left", rpc_method_caller<m3pi, float, &m3pi::left> },
jonmarsh	0:e1dac380452c	219	{ "right", rpc_method_caller<m3pi, float, &m3pi::right> },
jonmarsh	0:e1dac380452c	220	{ "stop", rpc_method_caller<m3pi, &m3pi::stop> },
jonmarsh	0:e1dac380452c	221	{ "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
jonmarsh	0:e1dac380452c	222	{ "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
jonmarsh	0:e1dac380452c	223	{ "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
jonmarsh	0:e1dac380452c	224	{ "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
jonmarsh	0:e1dac380452c	225	{ "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
jonmarsh	0:e1dac380452c	226
jonmarsh	0:e1dac380452c	227
jonmarsh	0:e1dac380452c	228	RPC_METHOD_SUPER(Base)
jonmarsh	0:e1dac380452c	229	};
jonmarsh	0:e1dac380452c	230	return rpc_methods;
jonmarsh	0:e1dac380452c	231	}
jonmarsh	0:e1dac380452c	232	#endif

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Type:	Library
Created:	03 Mar 2011
Imports:	2414
Forks:	1
Commits:	1
Dependents:	4
Dependencies:	0
Followers:	53

m3pimaze.cpp@0:e1dac380452c, 2011-03-03 (annotated)

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