Affordable Smart Wheelchair / Mbed OS Version1-2

Fully integrated ToF/IMU codes

Dependencies:   QEI2 PID Watchdog VL53L1X_Filter ros_lib_kinetic

wheelchairControlSideTof/IMU6050/IMUWheelchair.h@21:d1faccb96146, 2019-07-09 (annotated)

Committer:
isagmz
Date:
Tue Jul 09 17:52:32 2019 +0000
Revision:
21:d1faccb96146
Finished IMU side sensor code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
isagmz 21:d1faccb96146 1 #ifndef IMUWheelchair_H
isagmz 21:d1faccb96146 2 #define IMUWheelchair_H
isagmz 21:d1faccb96146 3
isagmz 21:d1faccb96146 4 #include "filter.h"
isagmz 21:d1faccb96146 5 //#include "mbed.h"
isagmz 21:d1faccb96146 6 #include "math.h"
isagmz 21:d1faccb96146 7 #include <MPU6050.h>
isagmz 21:d1faccb96146 8
isagmz 21:d1faccb96146 9 #define PI 3.141593
isagmz 21:d1faccb96146 10
isagmz 21:d1faccb96146 11 /*#define SDA D14
isagmz 21:d1faccb96146 12 #define SCL D15*/
isagmz 21:d1faccb96146 13 #define SDA PB_9
isagmz 21:d1faccb96146 14 #define SCL PB_8
isagmz 21:d1faccb96146 15 #define SAMPLEFREQ 50
isagmz 21:d1faccb96146 16 #define CAL_TIME 3
isagmz 21:d1faccb96146 17
isagmz 21:d1faccb96146 18 class IMUWheelchair {
isagmz 21:d1faccb96146 19 public:
isagmz 21:d1faccb96146 20 //The constructor for this class
isagmz 21:d1faccb96146 21 IMUWheelchair(Serial* out, Timer* time);
isagmz 21:d1faccb96146 22 IMUWheelchair(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
isagmz 21:d1faccb96146 23
isagmz 21:d1faccb96146 24 //Set up the IMU, check if it connects
isagmz 21:d1faccb96146 25 void setup();
isagmz 21:d1faccb96146 26
isagmz 21:d1faccb96146 27 //Get the x-component of the angular acceleration
isagmz 21:d1faccb96146 28 double accel_x();
isagmz 21:d1faccb96146 29
isagmz 21:d1faccb96146 30 //Get the y-component of the angular acceleration
isagmz 21:d1faccb96146 31 double accel_y();
isagmz 21:d1faccb96146 32
isagmz 21:d1faccb96146 33 //Get the z-component of the angular acceleration
isagmz 21:d1faccb96146 34 double accel_z();
isagmz 21:d1faccb96146 35
isagmz 21:d1faccb96146 36 //Get the x-component of gyro, angular velocity
isagmz 21:d1faccb96146 37 double gyro_x();
isagmz 21:d1faccb96146 38
isagmz 21:d1faccb96146 39 //Get the y-component of gyro, angular velocity
isagmz 21:d1faccb96146 40 double gyro_y();
isagmz 21:d1faccb96146 41
isagmz 21:d1faccb96146 42 //Get the z-component of gyro, angular velocity
isagmz 21:d1faccb96146 43 double gyro_z();
isagmz 21:d1faccb96146 44
isagmz 21:d1faccb96146 45 //Magnometer to find angle relative to North to compare to gyroscope
isagmz 21:d1faccb96146 46 //double angle_north();
isagmz 21:d1faccb96146 47
isagmz 21:d1faccb96146 48 //Get the YAW, or angle (theta), direction facing
isagmz 21:d1faccb96146 49 double yaw();
isagmz 21:d1faccb96146 50
isagmz 21:d1faccb96146 51 //Get the pitch, (Up and down component)
isagmz 21:d1faccb96146 52 double pitch();
isagmz 21:d1faccb96146 53
isagmz 21:d1faccb96146 54 //Get the roll, the tilt
isagmz 21:d1faccb96146 55 double roll();
isagmz 21:d1faccb96146 56
isagmz 21:d1faccb96146 57 MPU6050* imu; //The IMU we're testing from, MPU6050
isagmz 21:d1faccb96146 58
isagmz 21:d1faccb96146 59 private:
isagmz 21:d1faccb96146 60 Serial* usb; //the connection port
isagmz 21:d1faccb96146 61 Timer* t;//to calculate the time
isagmz 21:d1faccb96146 62 float accelData[3]; // stores the angular acceleration component
isagmz 21:d1faccb96146 63 float gyroData[3]; //stores the gyro data x,y,z
isagmz 21:d1faccb96146 64 float* accelD; //Pointer that points to either accelData
isagmz 21:d1faccb96146 65 float* gyroD; //Ptr to the gyroData array
isagmz 21:d1faccb96146 66
isagmz 21:d1faccb96146 67 float angleData[3]; //Contains the pitch, roll, yaw angle
isagmz 21:d1faccb96146 68 float* angleD;//Ptr to angleData array
isagmz 21:d1faccb96146 69
isagmz 21:d1faccb96146 70 void calibrate_yaw();
isagmz 21:d1faccb96146 71
isagmz 21:d1faccb96146 72 bool start;
isagmz 21:d1faccb96146 73
isagmz 21:d1faccb96146 74 };
isagmz 21:d1faccb96146 75
isagmz 21:d1faccb96146 76 #endif