Jon Marsh
Adds ability to play a tune and to directly read sensor values
Dependents: m3pi_MazeSolver m3pi_MazeSolverLVC mbeddedNets hiworld
m3pimaze.h@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 | /* mbed m3pi Library |
| jonmarsh | 0:e1dac380452c | 2 | * Copyright (c) 2007-2010 cstyles |
| jonmarsh | 0:e1dac380452c | 3 | * |
| jonmarsh | 0:e1dac380452c | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| jonmarsh | 0:e1dac380452c | 5 | * of this software and associated documentation files (the "Software"), to deal |
| jonmarsh | 0:e1dac380452c | 6 | * in the Software without restriction, including without limitation the rights |
| jonmarsh | 0:e1dac380452c | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| jonmarsh | 0:e1dac380452c | 8 | * copies of the Software, and to permit persons to whom the Software is |
| jonmarsh | 0:e1dac380452c | 9 | * furnished to do so, subject to the following conditions: |
| jonmarsh | 0:e1dac380452c | 10 | * |
| jonmarsh | 0:e1dac380452c | 11 | * The above copyright notice and this permission notice shall be included in |
| jonmarsh | 0:e1dac380452c | 12 | * all copies or substantial portions of the Software. |
| jonmarsh | 0:e1dac380452c | 13 | * |
| jonmarsh | 0:e1dac380452c | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| jonmarsh | 0:e1dac380452c | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| jonmarsh | 0:e1dac380452c | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| jonmarsh | 0:e1dac380452c | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| jonmarsh | 0:e1dac380452c | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| jonmarsh | 0:e1dac380452c | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| jonmarsh | 0:e1dac380452c | 20 | * THE SOFTWARE. |
| jonmarsh | 0:e1dac380452c | 21 | */ |
| jonmarsh | 0:e1dac380452c | 22 | |
| jonmarsh | 0:e1dac380452c | 23 | #ifndef M3PI_H |
| jonmarsh | 0:e1dac380452c | 24 | #define M3PI_H |
| jonmarsh | 0:e1dac380452c | 25 | |
| jonmarsh | 0:e1dac380452c | 26 | #include "mbed.h" |
| jonmarsh | 0:e1dac380452c | 27 | #include "platform.h" |
| jonmarsh | 0:e1dac380452c | 28 | |
| jonmarsh | 0:e1dac380452c | 29 | #ifdef MBED_RPC |
| jonmarsh | 0:e1dac380452c | 30 | #include "rpc.h" |
| jonmarsh | 0:e1dac380452c | 31 | #endif |
| jonmarsh | 0:e1dac380452c | 32 | |
| jonmarsh | 0:e1dac380452c | 33 | #define SEND_SIGNATURE 0x81 |
| jonmarsh | 0:e1dac380452c | 34 | #define SEND_RAW_SENSOR_VALUES 0x86 |
| jonmarsh | 0:e1dac380452c | 35 | #define SEND_CALIBRATED_SENSOR_VALUES 0x87 |
| jonmarsh | 0:e1dac380452c | 36 | #define SEND_TRIMPOT 0xB0 |
| jonmarsh | 0:e1dac380452c | 37 | #define SEND_BATTERY_MILLIVOLTS 0xB1 |
| jonmarsh | 0:e1dac380452c | 38 | #define DO_PLAY 0xB3 |
| jonmarsh | 0:e1dac380452c | 39 | #define PI_CALIBRATE 0xB4 |
| jonmarsh | 0:e1dac380452c | 40 | #define DO_CLEAR 0xB7 |
| jonmarsh | 0:e1dac380452c | 41 | #define DO_PRINT 0xB8 |
| jonmarsh | 0:e1dac380452c | 42 | #define DO_LCD_GOTO_XY 0xB9 |
| jonmarsh | 0:e1dac380452c | 43 | #define LINE_SENSORS_RESET_CALIBRATION 0xB5 |
| jonmarsh | 0:e1dac380452c | 44 | #define SEND_LINE_POSITION 0xB6 |
| jonmarsh | 0:e1dac380452c | 45 | #define AUTO_CALIBRATE 0xBA |
| jonmarsh | 0:e1dac380452c | 46 | #define SET_PID 0xBB |
| jonmarsh | 0:e1dac380452c | 47 | #define STOP_PID 0xBC |
| jonmarsh | 0:e1dac380452c | 48 | #define M1_FORWARD 0xC1 |
| jonmarsh | 0:e1dac380452c | 49 | #define M1_BACKWARD 0xC2 |
| jonmarsh | 0:e1dac380452c | 50 | #define M2_FORWARD 0xC5 |
| jonmarsh | 0:e1dac380452c | 51 | #define M2_BACKWARD 0xC6 |
| jonmarsh | 0:e1dac380452c | 52 | |
| jonmarsh | 0:e1dac380452c | 53 | |
| jonmarsh | 0:e1dac380452c | 54 | |
| jonmarsh | 0:e1dac380452c | 55 | |
| jonmarsh | 0:e1dac380452c | 56 | |
| jonmarsh | 0:e1dac380452c | 57 | |
| jonmarsh | 0:e1dac380452c | 58 | |
| jonmarsh | 0:e1dac380452c | 59 | /** m3pi control class |
| jonmarsh | 0:e1dac380452c | 60 | * |
| jonmarsh | 0:e1dac380452c | 61 | * Example: |
| jonmarsh | 0:e1dac380452c | 62 | * @code |
| jonmarsh | 0:e1dac380452c | 63 | * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second |
| jonmarsh | 0:e1dac380452c | 64 | |
| jonmarsh | 0:e1dac380452c | 65 | #include "mbed.h" |
| jonmarsh | 0:e1dac380452c | 66 | #include "m3pimusic.h" |
| jonmarsh | 0:e1dac380452c | 67 | |
| jonmarsh | 0:e1dac380452c | 68 | m3pi pi(p8,p9,p10); |
| jonmarsh | 0:e1dac380452c | 69 | |
| jonmarsh | 0:e1dac380452c | 70 | int main() { |
| jonmarsh | 0:e1dac380452c | 71 | |
| jonmarsh | 0:e1dac380452c | 72 | wait(0.5); |
| jonmarsh | 0:e1dac380452c | 73 | |
| jonmarsh | 0:e1dac380452c | 74 | pi.forward(0.5); |
| jonmarsh | 0:e1dac380452c | 75 | wait (0.5); |
| jonmarsh | 0:e1dac380452c | 76 | pi.left(0.5); |
| jonmarsh | 0:e1dac380452c | 77 | wait (0.5); |
| jonmarsh | 0:e1dac380452c | 78 | pi.backward(0.5); |
| jonmarsh | 0:e1dac380452c | 79 | wait (0.5); |
| jonmarsh | 0:e1dac380452c | 80 | pi.right(0.5); |
| jonmarsh | 0:e1dac380452c | 81 | wait (0.5); |
| jonmarsh | 0:e1dac380452c | 82 | |
| jonmarsh | 0:e1dac380452c | 83 | pi.stop(); |
| jonmarsh | 0:e1dac380452c | 84 | |
| jonmarsh | 0:e1dac380452c | 85 | } |
| jonmarsh | 0:e1dac380452c | 86 | * @endcode |
| jonmarsh | 0:e1dac380452c | 87 | */ |
| jonmarsh | 0:e1dac380452c | 88 | class m3pi : public Stream { |
| jonmarsh | 0:e1dac380452c | 89 | |
| jonmarsh | 0:e1dac380452c | 90 | // Public functions |
| jonmarsh | 0:e1dac380452c | 91 | public: |
| jonmarsh | 0:e1dac380452c | 92 | |
| jonmarsh | 0:e1dac380452c | 93 | /** Create the m3pi object connected to the default pins |
| jonmarsh | 0:e1dac380452c | 94 | * |
| jonmarsh | 0:e1dac380452c | 95 | * @param nrst GPIO pin used for reset. Default is p8 |
| jonmarsh | 0:e1dac380452c | 96 | * @param tx Serial transmit pin. Default is p9 |
| jonmarsh | 0:e1dac380452c | 97 | * @param rx Serial receive pin. Default is p10 |
| jonmarsh | 0:e1dac380452c | 98 | */ |
| jonmarsh | 0:e1dac380452c | 99 | m3pi(PinName nrst, PinName tx, PinName rx); |
| jonmarsh | 0:e1dac380452c | 100 | |
| jonmarsh | 0:e1dac380452c | 101 | |
| jonmarsh | 0:e1dac380452c | 102 | /** Force a hardware reset of the 3pi |
| jonmarsh | 0:e1dac380452c | 103 | */ |
| jonmarsh | 0:e1dac380452c | 104 | void reset (void); |
| jonmarsh | 0:e1dac380452c | 105 | |
| jonmarsh | 0:e1dac380452c | 106 | /** Directly control the speed and direction of the left motor |
| jonmarsh | 0:e1dac380452c | 107 | * |
| jonmarsh | 0:e1dac380452c | 108 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
| jonmarsh | 0:e1dac380452c | 109 | */ |
| jonmarsh | 0:e1dac380452c | 110 | void left_motor (float speed); |
| jonmarsh | 0:e1dac380452c | 111 | |
| jonmarsh | 0:e1dac380452c | 112 | /** Directly control the speed and direction of the right motor |
| jonmarsh | 0:e1dac380452c | 113 | * |
| jonmarsh | 0:e1dac380452c | 114 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
| jonmarsh | 0:e1dac380452c | 115 | */ |
| jonmarsh | 0:e1dac380452c | 116 | void right_motor (float speed); |
| jonmarsh | 0:e1dac380452c | 117 | |
| jonmarsh | 0:e1dac380452c | 118 | /** Drive both motors forward as the same speed |
| jonmarsh | 0:e1dac380452c | 119 | * |
| jonmarsh | 0:e1dac380452c | 120 | * @param speed A normalised number 0 - 1.0 represents the full range. |
| jonmarsh | 0:e1dac380452c | 121 | */ |
| jonmarsh | 0:e1dac380452c | 122 | void forward (float speed); |
| jonmarsh | 0:e1dac380452c | 123 | |
| jonmarsh | 0:e1dac380452c | 124 | /** Drive both motors backward as the same speed |
| jonmarsh | 0:e1dac380452c | 125 | * |
| jonmarsh | 0:e1dac380452c | 126 | * @param speed A normalised number 0 - 1.0 represents the full range. |
| jonmarsh | 0:e1dac380452c | 127 | */ |
| jonmarsh | 0:e1dac380452c | 128 | void backward (float speed); |
| jonmarsh | 0:e1dac380452c | 129 | |
| jonmarsh | 0:e1dac380452c | 130 | /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot |
| jonmarsh | 0:e1dac380452c | 131 | * |
| jonmarsh | 0:e1dac380452c | 132 | * @param speed A normalised number 0 - 1.0 represents the full range. |
| jonmarsh | 0:e1dac380452c | 133 | */ |
| jonmarsh | 0:e1dac380452c | 134 | void left (float speed); |
| jonmarsh | 0:e1dac380452c | 135 | |
| jonmarsh | 0:e1dac380452c | 136 | /** Drive left motor forward and right motor backwards at the same speed to turn on the spot |
| jonmarsh | 0:e1dac380452c | 137 | * |
| jonmarsh | 0:e1dac380452c | 138 | * @param speed A normalised number 0 - 1.0 represents the full range. |
| jonmarsh | 0:e1dac380452c | 139 | */ |
| jonmarsh | 0:e1dac380452c | 140 | void right (float speed); |
| jonmarsh | 0:e1dac380452c | 141 | |
| jonmarsh | 0:e1dac380452c | 142 | /** Stop both motors |
| jonmarsh | 0:e1dac380452c | 143 | * |
| jonmarsh | 0:e1dac380452c | 144 | */ |
| jonmarsh | 0:e1dac380452c | 145 | void stop (void); |
| jonmarsh | 0:e1dac380452c | 146 | |
| jonmarsh | 0:e1dac380452c | 147 | /** Read the voltage of the potentiometer on the 3pi |
| jonmarsh | 0:e1dac380452c | 148 | * @returns voltage as a float |
| jonmarsh | 0:e1dac380452c | 149 | * |
| jonmarsh | 0:e1dac380452c | 150 | */ |
| jonmarsh | 0:e1dac380452c | 151 | float pot_voltage(void); |
| jonmarsh | 0:e1dac380452c | 152 | |
| jonmarsh | 0:e1dac380452c | 153 | /** Read the battery voltage on the 3pi |
| jonmarsh | 0:e1dac380452c | 154 | * @returns battery voltage as a float |
| jonmarsh | 0:e1dac380452c | 155 | * |
| jonmarsh | 0:e1dac380452c | 156 | */ |
| jonmarsh | 0:e1dac380452c | 157 | float battery(void); |
| jonmarsh | 0:e1dac380452c | 158 | |
| jonmarsh | 0:e1dac380452c | 159 | /** Read the position of the detected line |
| jonmarsh | 0:e1dac380452c | 160 | * @returns position as A normalised number -1.0 - 1.0 represents the full range. |
| jonmarsh | 0:e1dac380452c | 161 | * |
| jonmarsh | 0:e1dac380452c | 162 | */ |
| jonmarsh | 0:e1dac380452c | 163 | float line_position (void); |
| jonmarsh | 0:e1dac380452c | 164 | |
| jonmarsh | 0:e1dac380452c | 165 | |
| jonmarsh | 0:e1dac380452c | 166 | /** Calibrate the sensors. This turns the robot left then right, loking for a line |
| jonmarsh | 0:e1dac380452c | 167 | * |
| jonmarsh | 0:e1dac380452c | 168 | */ |
| jonmarsh | 0:e1dac380452c | 169 | char sensor_auto_calibrate (void); |
| jonmarsh | 0:e1dac380452c | 170 | |
| jonmarsh | 0:e1dac380452c | 171 | /** Set calibration manually to the current settings. |
| jonmarsh | 0:e1dac380452c | 172 | * |
| jonmarsh | 0:e1dac380452c | 173 | */ |
| jonmarsh | 0:e1dac380452c | 174 | void calibrate(void); |
| jonmarsh | 0:e1dac380452c | 175 | |
| jonmarsh | 0:e1dac380452c | 176 | /** Clear the current calibration settings |
| jonmarsh | 0:e1dac380452c | 177 | * |
| jonmarsh | 0:e1dac380452c | 178 | */ |
| jonmarsh | 0:e1dac380452c | 179 | void reset_calibration (void); |
| jonmarsh | 0:e1dac380452c | 180 | |
| jonmarsh | 0:e1dac380452c | 181 | void PID_start(int max_speed, int a, int b, int c, int d); |
| jonmarsh | 0:e1dac380452c | 182 | |
| jonmarsh | 0:e1dac380452c | 183 | void PID_stop(); |
| jonmarsh | 0:e1dac380452c | 184 | |
| jonmarsh | 0:e1dac380452c | 185 | /** Write to the 8 LEDs |
| jonmarsh | 0:e1dac380452c | 186 | * |
| jonmarsh | 0:e1dac380452c | 187 | * @param leds An 8 bit value to put on the LEDs |
| jonmarsh | 0:e1dac380452c | 188 | */ |
| jonmarsh | 0:e1dac380452c | 189 | void leds(int val); |
| jonmarsh | 0:e1dac380452c | 190 | |
| jonmarsh | 0:e1dac380452c | 191 | |
| jonmarsh | 0:e1dac380452c | 192 | |
| jonmarsh | 0:e1dac380452c | 193 | /** Locate the cursor on the 8x2 LCD |
| jonmarsh | 0:e1dac380452c | 194 | * |
| jonmarsh | 0:e1dac380452c | 195 | * @param x The horizontal position, from 0 to 7 |
| jonmarsh | 0:e1dac380452c | 196 | * @param y The vertical position, from 0 to 1 |
| jonmarsh | 0:e1dac380452c | 197 | */ |
| jonmarsh | 0:e1dac380452c | 198 | void locate(int x, int y); |
| jonmarsh | 0:e1dac380452c | 199 | |
| jonmarsh | 0:e1dac380452c | 200 | /** Clear the LCD |
| jonmarsh | 0:e1dac380452c | 201 | * |
| jonmarsh | 0:e1dac380452c | 202 | */ |
| jonmarsh | 0:e1dac380452c | 203 | void cls(void); |
| jonmarsh | 0:e1dac380452c | 204 | |
| jonmarsh | 0:e1dac380452c | 205 | /** Send a character directly to the 3pi serial interface |
| jonmarsh | 0:e1dac380452c | 206 | * @param c The character to send to the 3pi |
| jonmarsh | 0:e1dac380452c | 207 | */ |
| jonmarsh | 0:e1dac380452c | 208 | int putc(int c); |
| jonmarsh | 0:e1dac380452c | 209 | |
| jonmarsh | 0:e1dac380452c | 210 | /** Receive a character directly to the 3pi serial interface |
| jonmarsh | 0:e1dac380452c | 211 | * @returns c The character received from the 3pi |
| jonmarsh | 0:e1dac380452c | 212 | */ |
| jonmarsh | 0:e1dac380452c | 213 | int getc(); |
| jonmarsh | 0:e1dac380452c | 214 | |
| jonmarsh | 0:e1dac380452c | 215 | /** Send a string buffer to the 3pi serial interface |
| jonmarsh | 0:e1dac380452c | 216 | * @param text A pointer to a char array |
| jonmarsh | 0:e1dac380452c | 217 | * @param int The character to send to the 3pi |
| jonmarsh | 0:e1dac380452c | 218 | */ |
| jonmarsh | 0:e1dac380452c | 219 | int print(char* text, int length); |
| jonmarsh | 0:e1dac380452c | 220 | |
| jonmarsh | 0:e1dac380452c | 221 | /** Play a tune |
| jonmarsh | 0:e1dac380452c | 222 | */ |
| jonmarsh | 0:e1dac380452c | 223 | int playtune(char* text, int length); |
| jonmarsh | 0:e1dac380452c | 224 | |
| jonmarsh | 0:e1dac380452c | 225 | /** |
| jonmarsh | 0:e1dac380452c | 226 | * Read the calibrated value of a sensor |
| jonmarsh | 0:e1dac380452c | 227 | * @param sensor Pointer to array sensor [0-4] |
| jonmarsh | 0:e1dac380452c | 228 | * @param values returned in the range 0-1000 where 1000=completely dark |
| jonmarsh | 0:e1dac380452c | 229 | */ |
| jonmarsh | 0:e1dac380452c | 230 | void readsensor(int *sensor); |
| jonmarsh | 0:e1dac380452c | 231 | |
| jonmarsh | 0:e1dac380452c | 232 | #ifdef MBED_RPC |
| jonmarsh | 0:e1dac380452c | 233 | virtual const struct rpc_method *get_rpc_methods(); |
| jonmarsh | 0:e1dac380452c | 234 | #endif |
| jonmarsh | 0:e1dac380452c | 235 | |
| jonmarsh | 0:e1dac380452c | 236 | private : |
| jonmarsh | 0:e1dac380452c | 237 | |
| jonmarsh | 0:e1dac380452c | 238 | DigitalOut _nrst; |
| jonmarsh | 0:e1dac380452c | 239 | Serial _ser; |
| jonmarsh | 0:e1dac380452c | 240 | BusOut _leds; |
| jonmarsh | 0:e1dac380452c | 241 | |
| jonmarsh | 0:e1dac380452c | 242 | void motor (int motor, float speed); |
| jonmarsh | 0:e1dac380452c | 243 | virtual int _putc(int c); |
| jonmarsh | 0:e1dac380452c | 244 | virtual int _getc(); |
| jonmarsh | 0:e1dac380452c | 245 | |
| jonmarsh | 0:e1dac380452c | 246 | }; |
| jonmarsh | 0:e1dac380452c | 247 | |
| jonmarsh | 0:e1dac380452c | 248 | #endif |