stephen smitherman / Mbed 2 deprecated m3pi_BlueUSB_PS3

A compilation of code from different sources to provide support for a Playstation 3 controller via bluetooth on the m3pi.

Dependencies:   TextLCD mbed

Fork of mbed_TANK_PS3 by Yasuhiko YAMAMOTO

m3pi.h@2:895f70862eb9, 2013-01-01 (annotated)

Committer:
srsmitherman
Date:
Tue Jan 01 02:10:08 2013 +0000
Revision:
2:895f70862eb9
Parent:
1:ae49669c5e92 
M3pi support

Who changed what in which revision?

UserRevisionLine numberNew contents of line
srsmitherman 1:ae49669c5e92 1 /* mbed m3pi Library
srsmitherman 1:ae49669c5e92 2 * Copyright (c) 2007-2010 cstyles
srsmitherman 1:ae49669c5e92 3 *
srsmitherman 1:ae49669c5e92 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
srsmitherman 1:ae49669c5e92 5 * of this software and associated documentation files (the "Software"), to deal
srsmitherman 1:ae49669c5e92 6 * in the Software without restriction, including without limitation the rights
srsmitherman 1:ae49669c5e92 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
srsmitherman 1:ae49669c5e92 8 * copies of the Software, and to permit persons to whom the Software is
srsmitherman 1:ae49669c5e92 9 * furnished to do so, subject to the following conditions:
srsmitherman 1:ae49669c5e92 10 *
srsmitherman 1:ae49669c5e92 11 * The above copyright notice and this permission notice shall be included in
srsmitherman 1:ae49669c5e92 12 * all copies or substantial portions of the Software.
srsmitherman 1:ae49669c5e92 13 *
srsmitherman 1:ae49669c5e92 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
srsmitherman 1:ae49669c5e92 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
srsmitherman 1:ae49669c5e92 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
srsmitherman 1:ae49669c5e92 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
srsmitherman 1:ae49669c5e92 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
srsmitherman 1:ae49669c5e92 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
srsmitherman 1:ae49669c5e92 20 * THE SOFTWARE.
srsmitherman 1:ae49669c5e92 21 */
srsmitherman 1:ae49669c5e92 22
srsmitherman 1:ae49669c5e92 23 #ifndef M3PI_H
srsmitherman 1:ae49669c5e92 24 #define M3PI_H
srsmitherman 1:ae49669c5e92 25
srsmitherman 1:ae49669c5e92 26 #include "mbed.h"
srsmitherman 1:ae49669c5e92 27 #include "platform.h"
srsmitherman 1:ae49669c5e92 28
srsmitherman 1:ae49669c5e92 29 #ifdef MBED_RPC
srsmitherman 1:ae49669c5e92 30 #include "rpc.h"
srsmitherman 1:ae49669c5e92 31 #endif
srsmitherman 1:ae49669c5e92 32
srsmitherman 1:ae49669c5e92 33 #define SEND_SIGNATURE 0x81
srsmitherman 1:ae49669c5e92 34 #define SEND_RAW_SENSOR_VALUES 0x86
srsmitherman 1:ae49669c5e92 35 #define SEND_TRIMPOT 0xB0
srsmitherman 1:ae49669c5e92 36 #define SEND_BATTERY_MILLIVOLTS 0xB1
srsmitherman 1:ae49669c5e92 37 #define DO_PLAY 0xB3
srsmitherman 1:ae49669c5e92 38 #define PI_CALIBRATE 0xB4
srsmitherman 1:ae49669c5e92 39 #define DO_CLEAR 0xB7
srsmitherman 1:ae49669c5e92 40 #define DO_PRINT 0xB8
srsmitherman 1:ae49669c5e92 41 #define DO_LCD_GOTO_XY 0xB9
srsmitherman 1:ae49669c5e92 42 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
srsmitherman 1:ae49669c5e92 43 #define SEND_LINE_POSITION 0xB6
srsmitherman 1:ae49669c5e92 44 #define AUTO_CALIBRATE 0xBA
srsmitherman 1:ae49669c5e92 45 #define SET_PID 0xBB
srsmitherman 1:ae49669c5e92 46 #define STOP_PID 0xBC
srsmitherman 1:ae49669c5e92 47 #define M1_FORWARD 0xC1
srsmitherman 1:ae49669c5e92 48 #define M1_BACKWARD 0xC2
srsmitherman 1:ae49669c5e92 49 #define M2_FORWARD 0xC5
srsmitherman 1:ae49669c5e92 50 #define M2_BACKWARD 0xC6
srsmitherman 1:ae49669c5e92 51
srsmitherman 1:ae49669c5e92 52
srsmitherman 1:ae49669c5e92 53
srsmitherman 1:ae49669c5e92 54 /** m3pi control class
srsmitherman 1:ae49669c5e92 55 *
srsmitherman 1:ae49669c5e92 56 * Example:
srsmitherman 1:ae49669c5e92 57 * @code
srsmitherman 1:ae49669c5e92 58 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
srsmitherman 1:ae49669c5e92 59
srsmitherman 1:ae49669c5e92 60 #include "mbed.h"
srsmitherman 1:ae49669c5e92 61 #include "m3pi.h"
srsmitherman 1:ae49669c5e92 62
srsmitherman 1:ae49669c5e92 63 m3pi pi;
srsmitherman 1:ae49669c5e92 64
srsmitherman 1:ae49669c5e92 65 int main() {
srsmitherman 1:ae49669c5e92 66
srsmitherman 1:ae49669c5e92 67 wait(0.5);
srsmitherman 1:ae49669c5e92 68
srsmitherman 1:ae49669c5e92 69 pi.forward(0.5);
srsmitherman 1:ae49669c5e92 70 wait (0.5);
srsmitherman 1:ae49669c5e92 71 pi.left(0.5);
srsmitherman 1:ae49669c5e92 72 wait (0.5);
srsmitherman 1:ae49669c5e92 73 pi.backward(0.5);
srsmitherman 1:ae49669c5e92 74 wait (0.5);
srsmitherman 1:ae49669c5e92 75 pi.right(0.5);
srsmitherman 1:ae49669c5e92 76 wait (0.5);
srsmitherman 1:ae49669c5e92 77
srsmitherman 1:ae49669c5e92 78 pi.stop();
srsmitherman 1:ae49669c5e92 79
srsmitherman 1:ae49669c5e92 80 }
srsmitherman 1:ae49669c5e92 81 * @endcode
srsmitherman 1:ae49669c5e92 82 */
srsmitherman 1:ae49669c5e92 83 class m3pi : public Stream {
srsmitherman 1:ae49669c5e92 84
srsmitherman 1:ae49669c5e92 85 // Public functions
srsmitherman 1:ae49669c5e92 86 public:
srsmitherman 1:ae49669c5e92 87
srsmitherman 1:ae49669c5e92 88 /** Create the m3pi object connected to the default pins
srsmitherman 1:ae49669c5e92 89 *
srsmitherman 1:ae49669c5e92 90 * @param nrst GPIO pin used for reset. Default is p23
srsmitherman 1:ae49669c5e92 91 * @param tx Serial transmit pin. Default is p9
srsmitherman 1:ae49669c5e92 92 * @param rx Serial receive pin. Default is p10
srsmitherman 1:ae49669c5e92 93 */
srsmitherman 1:ae49669c5e92 94 m3pi();
srsmitherman 1:ae49669c5e92 95
srsmitherman 1:ae49669c5e92 96
srsmitherman 1:ae49669c5e92 97 /** Create the m3pi object connected to the default pins
srsmitherman 1:ae49669c5e92 98 *
srsmitherman 1:ae49669c5e92 99 */
srsmitherman 1:ae49669c5e92 100 m3pi(PinName nrst, PinName tx, PinName rx);
srsmitherman 1:ae49669c5e92 101
srsmitherman 1:ae49669c5e92 102
srsmitherman 1:ae49669c5e92 103
srsmitherman 1:ae49669c5e92 104 /** Force a hardware reset of the 3pi
srsmitherman 1:ae49669c5e92 105 */
srsmitherman 1:ae49669c5e92 106 void reset (void);
srsmitherman 1:ae49669c5e92 107
srsmitherman 1:ae49669c5e92 108 /** Directly control the speed and direction of the left motor
srsmitherman 1:ae49669c5e92 109 *
srsmitherman 1:ae49669c5e92 110 * @param speed A normalised number -1.0 - 1.0 represents the full range.
srsmitherman 1:ae49669c5e92 111 */
srsmitherman 1:ae49669c5e92 112 void left_motor (float speed);
srsmitherman 1:ae49669c5e92 113
srsmitherman 1:ae49669c5e92 114 /** Directly control the speed and direction of the right motor
srsmitherman 1:ae49669c5e92 115 *
srsmitherman 1:ae49669c5e92 116 * @param speed A normalised number -1.0 - 1.0 represents the full range.
srsmitherman 1:ae49669c5e92 117 */
srsmitherman 1:ae49669c5e92 118 void right_motor (float speed);
srsmitherman 1:ae49669c5e92 119
srsmitherman 1:ae49669c5e92 120 /** Drive both motors forward as the same speed
srsmitherman 1:ae49669c5e92 121 *
srsmitherman 1:ae49669c5e92 122 * @param speed A normalised number 0 - 1.0 represents the full range.
srsmitherman 1:ae49669c5e92 123 */
srsmitherman 1:ae49669c5e92 124 void forward (float speed);
srsmitherman 1:ae49669c5e92 125
srsmitherman 1:ae49669c5e92 126 /** Drive both motors backward as the same speed
srsmitherman 1:ae49669c5e92 127 *
srsmitherman 1:ae49669c5e92 128 * @param speed A normalised number 0 - 1.0 represents the full range.
srsmitherman 1:ae49669c5e92 129 */
srsmitherman 1:ae49669c5e92 130 void backward (float speed);
srsmitherman 1:ae49669c5e92 131
srsmitherman 1:ae49669c5e92 132 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
srsmitherman 1:ae49669c5e92 133 *
srsmitherman 1:ae49669c5e92 134 * @param speed A normalised number 0 - 1.0 represents the full range.
srsmitherman 1:ae49669c5e92 135 */
srsmitherman 1:ae49669c5e92 136 void left (float speed);
srsmitherman 1:ae49669c5e92 137
srsmitherman 1:ae49669c5e92 138 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
srsmitherman 1:ae49669c5e92 139 * @param speed A normalised number 0 - 1.0 represents the full range.
srsmitherman 1:ae49669c5e92 140 */
srsmitherman 1:ae49669c5e92 141 void right (float speed);
srsmitherman 1:ae49669c5e92 142
srsmitherman 1:ae49669c5e92 143 /** Stop both motors
srsmitherman 1:ae49669c5e92 144 *
srsmitherman 1:ae49669c5e92 145 */
srsmitherman 1:ae49669c5e92 146 void stop (void);
srsmitherman 1:ae49669c5e92 147
srsmitherman 1:ae49669c5e92 148 /** Read the voltage of the potentiometer on the 3pi
srsmitherman 1:ae49669c5e92 149 * @returns voltage as a float
srsmitherman 1:ae49669c5e92 150 *
srsmitherman 1:ae49669c5e92 151 */
srsmitherman 1:ae49669c5e92 152 float pot_voltage(void);
srsmitherman 1:ae49669c5e92 153
srsmitherman 1:ae49669c5e92 154 /** Read the battery voltage on the 3pi
srsmitherman 1:ae49669c5e92 155 * @returns battery voltage as a float
srsmitherman 1:ae49669c5e92 156 */
srsmitherman 1:ae49669c5e92 157 float battery(void);
srsmitherman 1:ae49669c5e92 158
srsmitherman 1:ae49669c5e92 159 /** Read the position of the detected line
srsmitherman 1:ae49669c5e92 160 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
srsmitherman 1:ae49669c5e92 161 * -1.0 means line is on the left, or the line has been lost
srsmitherman 1:ae49669c5e92 162 * 0.0 means the line is in the middle
srsmitherman 1:ae49669c5e92 163 * 1.0 means the line is on the right
srsmitherman 1:ae49669c5e92 164 */
srsmitherman 1:ae49669c5e92 165 float line_position (void);
srsmitherman 1:ae49669c5e92 166
srsmitherman 1:ae49669c5e92 167
srsmitherman 1:ae49669c5e92 168 /** Calibrate the sensors. This turns the robot left then right, looking for a line
srsmitherman 1:ae49669c5e92 169 *
srsmitherman 1:ae49669c5e92 170 */
srsmitherman 1:ae49669c5e92 171 char sensor_auto_calibrate (void);
srsmitherman 1:ae49669c5e92 172
srsmitherman 1:ae49669c5e92 173 /** Set calibration manually to the current settings.
srsmitherman 1:ae49669c5e92 174 *
srsmitherman 1:ae49669c5e92 175 */
srsmitherman 1:ae49669c5e92 176 void calibrate(void);
srsmitherman 1:ae49669c5e92 177
srsmitherman 1:ae49669c5e92 178 /** Clear the current calibration settings
srsmitherman 1:ae49669c5e92 179 *
srsmitherman 1:ae49669c5e92 180 */
srsmitherman 1:ae49669c5e92 181 void reset_calibration (void);
srsmitherman 1:ae49669c5e92 182
srsmitherman 1:ae49669c5e92 183 void PID_start(int max_speed, int a, int b, int c, int d);
srsmitherman 1:ae49669c5e92 184
srsmitherman 1:ae49669c5e92 185 void PID_stop();
srsmitherman 1:ae49669c5e92 186
srsmitherman 1:ae49669c5e92 187 /** Write to the 8 LEDs
srsmitherman 1:ae49669c5e92 188 *
srsmitherman 1:ae49669c5e92 189 * @param leds An 8 bit value to put on the LEDs
srsmitherman 1:ae49669c5e92 190 */
srsmitherman 1:ae49669c5e92 191 void leds(int val);
srsmitherman 1:ae49669c5e92 192
srsmitherman 1:ae49669c5e92 193 /** Locate the cursor on the 8x2 LCD
srsmitherman 1:ae49669c5e92 194 *
srsmitherman 1:ae49669c5e92 195 * @param x The horizontal position, from 0 to 7
srsmitherman 1:ae49669c5e92 196 * @param y The vertical position, from 0 to 1
srsmitherman 1:ae49669c5e92 197 */
srsmitherman 1:ae49669c5e92 198 void locate(int x, int y);
srsmitherman 1:ae49669c5e92 199
srsmitherman 1:ae49669c5e92 200 /** Clear the LCD
srsmitherman 1:ae49669c5e92 201 *
srsmitherman 1:ae49669c5e92 202 */
srsmitherman 1:ae49669c5e92 203 void cls(void);
srsmitherman 1:ae49669c5e92 204
srsmitherman 1:ae49669c5e92 205 /** Send a character directly to the 3pi serial interface
srsmitherman 1:ae49669c5e92 206 * @param c The character to send to the 3pi
srsmitherman 1:ae49669c5e92 207 */
srsmitherman 1:ae49669c5e92 208 int putc(int c);
srsmitherman 1:ae49669c5e92 209
srsmitherman 1:ae49669c5e92 210 /** Receive a character directly to the 3pi serial interface
srsmitherman 1:ae49669c5e92 211 * @returns c The character received from the 3pi
srsmitherman 1:ae49669c5e92 212 */
srsmitherman 1:ae49669c5e92 213 int getc();
srsmitherman 1:ae49669c5e92 214
srsmitherman 1:ae49669c5e92 215 /** Send a string buffer to the 3pi serial interface
srsmitherman 1:ae49669c5e92 216 * @param text A pointer to a char array
srsmitherman 1:ae49669c5e92 217 * @param int The character to send to the 3pi
srsmitherman 1:ae49669c5e92 218 */
srsmitherman 1:ae49669c5e92 219 int print(char* text, int length);
srsmitherman 1:ae49669c5e92 220
srsmitherman 1:ae49669c5e92 221 /** Send a string buffer to the 3pi serial interface for
srsmitherman 1:ae49669c5e92 222 * playing music. See here for details about the string's
srsmitherman 1:ae49669c5e92 223 * format:
srsmitherman 1:ae49669c5e92 224 * http://www.pololu.com/docs/0J18/3
srsmitherman 1:ae49669c5e92 225 * @param music A pointer to a char array
srsmitherman 1:ae49669c5e92 226 * @param length The length of the music string
srsmitherman 1:ae49669c5e92 227 */
srsmitherman 1:ae49669c5e92 228 void play(char* music, int length);
srsmitherman 1:ae49669c5e92 229
srsmitherman 1:ae49669c5e92 230 #ifdef MBED_RPC
srsmitherman 1:ae49669c5e92 231 virtual const struct rpc_method *get_rpc_methods();
srsmitherman 1:ae49669c5e92 232 #endif
srsmitherman 1:ae49669c5e92 233
srsmitherman 1:ae49669c5e92 234 private :
srsmitherman 1:ae49669c5e92 235 DigitalOut _nrst;
srsmitherman 1:ae49669c5e92 236
srsmitherman 1:ae49669c5e92 237 void motor (int motor, float speed);
srsmitherman 1:ae49669c5e92 238 virtual int _putc(int c);
srsmitherman 1:ae49669c5e92 239 virtual int _getc();
srsmitherman 1:ae49669c5e92 240 public :
srsmitherman 1:ae49669c5e92 241 Serial _ser;
srsmitherman 1:ae49669c5e92 242 };
srsmitherman 1:ae49669c5e92 243
srsmitherman 1:ae49669c5e92 244 #endif