David Lopes / m3pi

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Fork of m3pi by Chris Styles

m3pi.cpp@9:ede0b90cc2b8, 2015-07-05 (annotated)

Committer:
scarcyon
Date:
Sun Jul 05 09:42:31 2015 +0000
Revision:
9:ede0b90cc2b8
Parent:
7:9b128cebb3c2 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:e6020bd04b45 1 /* m3pi Library
chris 0:e6020bd04b45 2 *
chris 0:e6020bd04b45 3 * Copyright (c) 2007-2010 cstyles
chris 0:e6020bd04b45 4 *
chris 0:e6020bd04b45 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
chris 0:e6020bd04b45 6 * of this software and associated documentation files (the "Software"), to deal
chris 0:e6020bd04b45 7 * in the Software without restriction, including without limitation the rights
chris 0:e6020bd04b45 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chris 0:e6020bd04b45 9 * copies of the Software, and to permit persons to whom the Software is
chris 0:e6020bd04b45 10 * furnished to do so, subject to the following conditions:
chris 0:e6020bd04b45 11 *
chris 0:e6020bd04b45 12 * The above copyright notice and this permission notice shall be included in
chris 0:e6020bd04b45 13 * all copies or substantial portions of the Software.
chris 0:e6020bd04b45 14 *
chris 0:e6020bd04b45 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chris 0:e6020bd04b45 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chris 0:e6020bd04b45 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chris 0:e6020bd04b45 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chris 0:e6020bd04b45 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chris 0:e6020bd04b45 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chris 0:e6020bd04b45 21 * THE SOFTWARE.
chris 0:e6020bd04b45 22 */
chris 0:e6020bd04b45 23
chris 0:e6020bd04b45 24 #include "mbed.h"
chris 0:e6020bd04b45 25 #include "m3pi.h"
chris 0:e6020bd04b45 26
scarcyon 9:ede0b90cc2b8 27 #define SEND_CALIBRATED_SENSOR_VALUES 0x87
scarcyon 9:ede0b90cc2b8 28
chris 7:9b128cebb3c2 29 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) {
chris 0:e6020bd04b45 30 _ser.baud(115200);
chris 0:e6020bd04b45 31 reset();
chris 0:e6020bd04b45 32 }
chris 0:e6020bd04b45 33
chris 7:9b128cebb3c2 34 m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) {
chris 7:9b128cebb3c2 35 _ser.baud(115200);
chris 7:9b128cebb3c2 36 reset();
chris 7:9b128cebb3c2 37 }
chris 7:9b128cebb3c2 38
chris 7:9b128cebb3c2 39
chris 0:e6020bd04b45 40 void m3pi::reset () {
chris 0:e6020bd04b45 41 _nrst = 0;
chris 0:e6020bd04b45 42 wait (0.01);
chris 0:e6020bd04b45 43 _nrst = 1;
chris 6:62ee1486ecb9 44 wait (0.1);
chris 0:e6020bd04b45 45 }
chris 0:e6020bd04b45 46
chris 0:e6020bd04b45 47 void m3pi::left_motor (float speed) {
chris 0:e6020bd04b45 48 motor(0,speed);
chris 0:e6020bd04b45 49 }
chris 0:e6020bd04b45 50
chris 0:e6020bd04b45 51 void m3pi::right_motor (float speed) {
chris 0:e6020bd04b45 52 motor(1,speed);
chris 0:e6020bd04b45 53 }
chris 0:e6020bd04b45 54
chris 0:e6020bd04b45 55 void m3pi::forward (float speed) {
chris 0:e6020bd04b45 56 motor(0,speed);
chris 0:e6020bd04b45 57 motor(1,speed);
chris 0:e6020bd04b45 58 }
chris 0:e6020bd04b45 59
chris 0:e6020bd04b45 60 void m3pi::backward (float speed) {
chris 0:e6020bd04b45 61 motor(0,-1.0*speed);
chris 0:e6020bd04b45 62 motor(1,-1.0*speed);
chris 0:e6020bd04b45 63 }
chris 0:e6020bd04b45 64
chris 0:e6020bd04b45 65 void m3pi::left (float speed) {
chris 0:e6020bd04b45 66 motor(0,speed);
chris 0:e6020bd04b45 67 motor(1,-1.0*speed);
chris 0:e6020bd04b45 68 }
chris 0:e6020bd04b45 69
chris 0:e6020bd04b45 70 void m3pi::right (float speed) {
chris 0:e6020bd04b45 71 motor(0,-1.0*speed);
chris 0:e6020bd04b45 72 motor(1,speed);
chris 0:e6020bd04b45 73 }
chris 0:e6020bd04b45 74
chris 0:e6020bd04b45 75 void m3pi::stop (void) {
chris 0:e6020bd04b45 76 motor(0,0.0);
chris 0:e6020bd04b45 77 motor(1,0.0);
chris 0:e6020bd04b45 78 }
chris 0:e6020bd04b45 79
chris 0:e6020bd04b45 80 void m3pi::motor (int motor, float speed) {
chris 0:e6020bd04b45 81 char opcode = 0x0;
chris 0:e6020bd04b45 82 if (speed > 0.0) {
chris 0:e6020bd04b45 83 if (motor==1)
chris 0:e6020bd04b45 84 opcode = M1_FORWARD;
chris 0:e6020bd04b45 85 else
chris 0:e6020bd04b45 86 opcode = M2_FORWARD;
chris 0:e6020bd04b45 87 } else {
chris 0:e6020bd04b45 88 if (motor==1)
chris 0:e6020bd04b45 89 opcode = M1_BACKWARD;
chris 0:e6020bd04b45 90 else
chris 0:e6020bd04b45 91 opcode = M2_BACKWARD;
chris 0:e6020bd04b45 92 }
chris 0:e6020bd04b45 93 unsigned char arg = 0x7f * abs(speed);
chris 0:e6020bd04b45 94
chris 0:e6020bd04b45 95 _ser.putc(opcode);
chris 0:e6020bd04b45 96 _ser.putc(arg);
chris 0:e6020bd04b45 97 }
chris 0:e6020bd04b45 98
chris 0:e6020bd04b45 99 float m3pi::battery() {
chris 0:e6020bd04b45 100 _ser.putc(SEND_BATTERY_MILLIVOLTS);
chris 0:e6020bd04b45 101 char lowbyte = _ser.getc();
chris 0:e6020bd04b45 102 char hibyte = _ser.getc();
chris 0:e6020bd04b45 103 float v = ((lowbyte + (hibyte << 8))/1000.0);
chris 0:e6020bd04b45 104 return(v);
chris 0:e6020bd04b45 105 }
chris 0:e6020bd04b45 106
chris 0:e6020bd04b45 107 float m3pi::line_position() {
chris 0:e6020bd04b45 108 int pos = 0;
chris 0:e6020bd04b45 109 _ser.putc(SEND_LINE_POSITION);
chris 0:e6020bd04b45 110 pos = _ser.getc();
chris 0:e6020bd04b45 111 pos += _ser.getc() << 8;
chris 0:e6020bd04b45 112
chris 2:330eb028e85b 113 float fpos = ((float)pos - 2048.0)/2048.0;
chris 0:e6020bd04b45 114 return(fpos);
chris 0:e6020bd04b45 115 }
chris 0:e6020bd04b45 116
chris 0:e6020bd04b45 117 char m3pi::sensor_auto_calibrate() {
chris 0:e6020bd04b45 118 _ser.putc(AUTO_CALIBRATE);
chris 0:e6020bd04b45 119 return(_ser.getc());
chris 0:e6020bd04b45 120 }
chris 0:e6020bd04b45 121
chris 0:e6020bd04b45 122
chris 0:e6020bd04b45 123 void m3pi::calibrate(void) {
chris 0:e6020bd04b45 124 _ser.putc(PI_CALIBRATE);
chris 0:e6020bd04b45 125 }
chris 0:e6020bd04b45 126
chris 0:e6020bd04b45 127 void m3pi::reset_calibration() {
chris 0:e6020bd04b45 128 _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
chris 0:e6020bd04b45 129 }
chris 0:e6020bd04b45 130
chris 0:e6020bd04b45 131 void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
chris 0:e6020bd04b45 132 _ser.putc(max_speed);
chris 0:e6020bd04b45 133 _ser.putc(a);
chris 0:e6020bd04b45 134 _ser.putc(b);
chris 0:e6020bd04b45 135 _ser.putc(c);
chris 0:e6020bd04b45 136 _ser.putc(d);
chris 0:e6020bd04b45 137 }
chris 0:e6020bd04b45 138
chris 0:e6020bd04b45 139 void m3pi::PID_stop() {
chris 0:e6020bd04b45 140 _ser.putc(STOP_PID);
chris 0:e6020bd04b45 141 }
chris 0:e6020bd04b45 142
chris 0:e6020bd04b45 143 float m3pi::pot_voltage(void) {
chris 0:e6020bd04b45 144 int volt = 0;
chris 0:e6020bd04b45 145 _ser.putc(SEND_TRIMPOT);
chris 0:e6020bd04b45 146 volt = _ser.getc();
chris 0:e6020bd04b45 147 volt += _ser.getc() << 8;
chris 0:e6020bd04b45 148 return(volt);
chris 0:e6020bd04b45 149 }
chris 0:e6020bd04b45 150
chris 5:09fb0636207b 151
chris 5:09fb0636207b 152 void m3pi::leds(int val) {
chris 7:9b128cebb3c2 153
chris 7:9b128cebb3c2 154 BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
chris 5:09fb0636207b 155 _leds = val;
chris 5:09fb0636207b 156 }
chris 5:09fb0636207b 157
chris 5:09fb0636207b 158
chris 0:e6020bd04b45 159 void m3pi::locate(int x, int y) {
chris 0:e6020bd04b45 160 _ser.putc(DO_LCD_GOTO_XY);
chris 0:e6020bd04b45 161 _ser.putc(x);
chris 0:e6020bd04b45 162 _ser.putc(y);
chris 0:e6020bd04b45 163 }
chris 0:e6020bd04b45 164
chris 0:e6020bd04b45 165 void m3pi::cls(void) {
chris 0:e6020bd04b45 166 _ser.putc(DO_CLEAR);
chris 0:e6020bd04b45 167 }
chris 0:e6020bd04b45 168
chris 0:e6020bd04b45 169 int m3pi::print (char* text, int length) {
chris 0:e6020bd04b45 170 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 171 _ser.putc(length);
chris 0:e6020bd04b45 172 for (int i = 0 ; i < length ; i++) {
chris 0:e6020bd04b45 173 _ser.putc(text[i]);
chris 0:e6020bd04b45 174 }
chris 0:e6020bd04b45 175 return(0);
chris 0:e6020bd04b45 176 }
chris 0:e6020bd04b45 177
chris 0:e6020bd04b45 178 int m3pi::_putc (int c) {
chris 0:e6020bd04b45 179 _ser.putc(DO_PRINT);
chris 0:e6020bd04b45 180 _ser.putc(0x1);
chris 0:e6020bd04b45 181 _ser.putc(c);
chris 0:e6020bd04b45 182 wait (0.001);
chris 0:e6020bd04b45 183 return(c);
chris 0:e6020bd04b45 184 }
chris 0:e6020bd04b45 185
chris 0:e6020bd04b45 186 int m3pi::_getc (void) {
chris 0:e6020bd04b45 187 char r = 0;
chris 0:e6020bd04b45 188 return(r);
chris 0:e6020bd04b45 189 }
chris 0:e6020bd04b45 190
chris 0:e6020bd04b45 191 int m3pi::putc (int c) {
chris 0:e6020bd04b45 192 return(_ser.putc(c));
chris 0:e6020bd04b45 193 }
chris 0:e6020bd04b45 194
chris 0:e6020bd04b45 195 int m3pi::getc (void) {
chris 0:e6020bd04b45 196 return(_ser.getc());
chris 0:e6020bd04b45 197 }
chris 0:e6020bd04b45 198
scarcyon 9:ede0b90cc2b8 199 void m3pi::readsensor (int *sensor){
scarcyon 9:ede0b90cc2b8 200
scarcyon 9:ede0b90cc2b8 201 _ser.putc(SEND_CALIBRATED_SENSOR_VALUES);
scarcyon 9:ede0b90cc2b8 202 sensor[0] = _ser.getc();
scarcyon 9:ede0b90cc2b8 203 sensor[0] += _ser.getc() << 8;
scarcyon 9:ede0b90cc2b8 204 sensor[1] = _ser.getc();
scarcyon 9:ede0b90cc2b8 205 sensor[1] += _ser.getc() << 8;
scarcyon 9:ede0b90cc2b8 206 sensor[2] = _ser.getc();
scarcyon 9:ede0b90cc2b8 207 sensor[2] += _ser.getc() << 8;
scarcyon 9:ede0b90cc2b8 208 sensor[3] = _ser.getc();
scarcyon 9:ede0b90cc2b8 209 sensor[3] += _ser.getc() << 8;
scarcyon 9:ede0b90cc2b8 210 sensor[4] = _ser.getc();
scarcyon 9:ede0b90cc2b8 211 sensor[4] += _ser.getc() << 8;
scarcyon 9:ede0b90cc2b8 212
scarcyon 9:ede0b90cc2b8 213 return;
scarcyon 9:ede0b90cc2b8 214 }
scarcyon 9:ede0b90cc2b8 215
chris 0:e6020bd04b45 216
chris 0:e6020bd04b45 217
chris 0:e6020bd04b45 218
chris 0:e6020bd04b45 219
chris 0:e6020bd04b45 220 #ifdef MBED_RPC
chris 0:e6020bd04b45 221 const rpc_method *m3pi::get_rpc_methods() {
chris 0:e6020bd04b45 222 static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
chris 1:816a80dcc1a3 223 { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
chris 0:e6020bd04b45 224 { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
chris 0:e6020bd04b45 225 { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
chris 0:e6020bd04b45 226 { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
chris 0:e6020bd04b45 227 { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
chris 0:e6020bd04b45 228 { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
chris 0:e6020bd04b45 229 { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
chris 3:c38d2f980494 230 { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
chris 3:c38d2f980494 231 { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
chris 0:e6020bd04b45 232
chris 0:e6020bd04b45 233
chris 0:e6020bd04b45 234 RPC_METHOD_SUPER(Base)
chris 0:e6020bd04b45 235 };
chris 0:e6020bd04b45 236 return rpc_methods;
chris 0:e6020bd04b45 237 }
chris 0:e6020bd04b45 238 #endif