BE@R lab / Mbed 2 deprecated MPU9250AHRS-PGear_Stabilizer

Stabilizer

Dependencies:   BEAR_Protocol mbed Stabilizer iSerial

Fork of MPU9250AHRS by BE@R lab

main.cpp@17:51ac4252fa1a, 2016-01-23 (annotated)

Committer:
icyzkungz
Date:
Sat Jan 23 04:10:16 2016 +0000
Revision:
17:51ac4252fa1a
Parent:
16:b5b9827dd5dc
Child:
18:02559b51ec08
Add Switch Mode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
icyzkungz 6:fa132fd505ce 1 #include "Stabilizer.h"
icyzkungz 10:f088c124d2be 2 #include "Kinematic.h"
onehorse 0:2e5e65a6fb30 3 #include "MPU9250.h"
onehorse 0:2e5e65a6fb30 4
onehorse 0:2e5e65a6fb30 5 float sum = 0;
onehorse 0:2e5e65a6fb30 6 uint32_t sumCount = 0;
onehorse 0:2e5e65a6fb30 7 char buffer[14];
onehorse 0:2e5e65a6fb30 8
soulx 3:3e04c1c03cab 9 MPU9250 mpu9250;
soulx 14:8101a48eb972 10 Stabilizer Stabilize(5.0f,0.0f);
icyzkungz 17:51ac4252fa1a 11 //Kinematic L('Z',10,10,30,30),R('Z',10,10,30,30);
icyzkungz 17:51ac4252fa1a 12 Kinematic L(0,0),R(0,0);
icyzkungz 17:51ac4252fa1a 13 Bear_Communicate bcom(PA_15,PB_7,1000000);
soulx 3:3e04c1c03cab 14
soulx 3:3e04c1c03cab 15 Timer t;
onehorse 0:2e5e65a6fb30 16
soulx 3:3e04c1c03cab 17 Serial pc(USBTX, USBRX); // tx, rx
soulx 3:3e04c1c03cab 18
soulx 3:3e04c1c03cab 19 float xmax = -4914.0f;
soulx 3:3e04c1c03cab 20 float xmin = 4914.0f;
onehorse 0:2e5e65a6fb30 21
soulx 3:3e04c1c03cab 22 float ymax = -4914.0;
soulx 3:3e04c1c03cab 23 float ymin = 4914.0f;
soulx 3:3e04c1c03cab 24
soulx 3:3e04c1c03cab 25 float zmax = -4914.0;
soulx 3:3e04c1c03cab 26 float zmin = 4914.0f;
onehorse 0:2e5e65a6fb30 27
soulx 3:3e04c1c03cab 28 float Xsf,Ysf;
soulx 3:3e04c1c03cab 29 float Xoff,Yoff;
soulx 3:3e04c1c03cab 30
soulx 3:3e04c1c03cab 31
soulx 3:3e04c1c03cab 32 //InterruptIn event(PC_13);
soulx 3:3e04c1c03cab 33 DigitalIn enable(PC_13);
soulx 3:3e04c1c03cab 34
icyzkungz 16:b5b9827dd5dc 35 DigitalIn button(USER_BUTTON);
icyzkungz 16:b5b9827dd5dc 36
icyzkungz 16:b5b9827dd5dc 37 void SwMode()
icyzkungz 16:b5b9827dd5dc 38 {
icyzkungz 17:51ac4252fa1a 39 int option;
icyzkungz 17:51ac4252fa1a 40 float temp;
icyzkungz 16:b5b9827dd5dc 41 float LH,LK,RH,RK;
icyzkungz 17:51ac4252fa1a 42 float LLink[2],RLink[2];
icyzkungz 17:51ac4252fa1a 43 float LLink0,LLink1,RLink0,RLink1;
icyzkungz 17:51ac4252fa1a 44 struct max_ang {
icyzkungz 17:51ac4252fa1a 45 float Hip;
icyzkungz 17:51ac4252fa1a 46 float Knee;
icyzkungz 17:51ac4252fa1a 47 };
icyzkungz 17:51ac4252fa1a 48 struct min_ang {
icyzkungz 17:51ac4252fa1a 49 float Hip;
icyzkungz 17:51ac4252fa1a 50 float Knee;
icyzkungz 17:51ac4252fa1a 51 };
icyzkungz 17:51ac4252fa1a 52 max_ang Lmax,Lmin;
icyzkungz 17:51ac4252fa1a 53 min_ang Rmax,Rmin;
icyzkungz 17:51ac4252fa1a 54 Lmax.Knee = Lmax.Hip = Lmin.Knee = Lmin.Hip = Rmax.Knee = Rmax.Hip = Rmin.Knee = Rmin.Hip = 0;
icyzkungz 17:51ac4252fa1a 55 bool a,b,c,d;
icyzkungz 17:51ac4252fa1a 56 a = b = c = d = false;
icyzkungz 16:b5b9827dd5dc 57 float temp_LH=0,temp_LK=0,temp_RH=0,temp_RK=0;
icyzkungz 17:51ac4252fa1a 58 do {
icyzkungz 16:b5b9827dd5dc 59 pc.printf("************Don't Forget to Save Data************\n");
icyzkungz 16:b5b9827dd5dc 60 pc.printf("*\t1) Motor Left Hip \t\t\t*\n");
icyzkungz 16:b5b9827dd5dc 61 pc.printf("*\t2) Motor Left Knee \t\t\t*\n");
icyzkungz 16:b5b9827dd5dc 62 pc.printf("*\t3) Motor Right Hip \t\t\t*\n");
icyzkungz 16:b5b9827dd5dc 63 pc.printf("*\t4) Motor Right Knee \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 64
icyzkungz 16:b5b9827dd5dc 65 pc.printf("*\t5) Kp : Left Hip \t\t\t*\n");
icyzkungz 16:b5b9827dd5dc 66 pc.printf("*\t6) Ki : Left Hip \t\t\t*\n");
icyzkungz 16:b5b9827dd5dc 67 pc.printf("*\t7) Kd : Left Hip \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 68
icyzkungz 17:51ac4252fa1a 69 pc.printf("*\t8) Kp : Left Knee \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 70 pc.printf("*\t9) Ki : Left Knee \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 71 pc.printf("*\t10) Kd : Left Knee \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 72
icyzkungz 17:51ac4252fa1a 73 pc.printf("*\t11) Kp : Right Hip \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 74 pc.printf("*\t12) Ki : Right Hip \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 75 pc.printf("*\t13) Kd : Right Hip \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 76
icyzkungz 17:51ac4252fa1a 77 pc.printf("*\t14) Kp : Right Knee \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 78 pc.printf("*\t15) Ki : Right Knee \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 79 pc.printf("*\t16) Kd : Right Knee \t\t\t*\n");
icyzkungz 17:51ac4252fa1a 80
icyzkungz 17:51ac4252fa1a 81 pc.printf("*\t17) Set Left Hip Margin\n");
icyzkungz 17:51ac4252fa1a 82 pc.printf("*\t18) Set Left Knee Margin\n");
icyzkungz 17:51ac4252fa1a 83 pc.printf("*\t19) Set Right Hip Margin\n");
icyzkungz 17:51ac4252fa1a 84 pc.printf("*\t20) Set Right Knee Margin\n");
icyzkungz 17:51ac4252fa1a 85
icyzkungz 17:51ac4252fa1a 86 pc.printf("*\t21) Set Lenght of Left Link Hip\n");
icyzkungz 17:51ac4252fa1a 87 pc.printf("*\t22) Set Lenght of Left Link Knee\n");
icyzkungz 17:51ac4252fa1a 88 pc.printf("*\t23) Set Lenght of Right Link Hip\n");
icyzkungz 17:51ac4252fa1a 89 pc.printf("*\t24) Set Lenght of Right Link Knee\n");
icyzkungz 17:51ac4252fa1a 90
icyzkungz 17:51ac4252fa1a 91 pc.printf("*\t25) Set Offset\n");
icyzkungz 17:51ac4252fa1a 92
icyzkungz 17:51ac4252fa1a 93 pc.printf("*\t26) Set Body Width\n");
icyzkungz 17:51ac4252fa1a 94
icyzkungz 17:51ac4252fa1a 95 pc.printf("*\t27) Set Maximum Hip Angle Range\n");
icyzkungz 17:51ac4252fa1a 96 pc.printf("*\t28) Set Minimum Hip Angle Range\n");
icyzkungz 17:51ac4252fa1a 97 pc.printf("*\t29) Set Maximum Knee Angle Range\n");
icyzkungz 17:51ac4252fa1a 98 pc.printf("*\t30) Set Minimum Knee Angle Range\n");
icyzkungz 17:51ac4252fa1a 99
icyzkungz 17:51ac4252fa1a 100 pc.printf("*\t40) Exit Program \t\t\t*\n");
icyzkungz 16:b5b9827dd5dc 101 pc.printf("************Don't Forget to Save Data************\n");
icyzkungz 16:b5b9827dd5dc 102 // Prompting user to enter an option according to menu
icyzkungz 16:b5b9827dd5dc 103 pc.printf("Please select an option : ");
icyzkungz 17:51ac4252fa1a 104
icyzkungz 16:b5b9827dd5dc 105 pc.scanf("%d",&option);
icyzkungz 17:51ac4252fa1a 106
icyzkungz 16:b5b9827dd5dc 107 pc.printf("\n");
icyzkungz 16:b5b9827dd5dc 108
icyzkungz 17:51ac4252fa1a 109 if(option == 1)// Left Hip
icyzkungz 16:b5b9827dd5dc 110 do {
icyzkungz 17:51ac4252fa1a 111 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 112 //Send Position to Motor
icyzkungz 17:51ac4252fa1a 113 pc.printf("Input Degree : \n");
icyzkungz 17:51ac4252fa1a 114 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 115 if(temp!=9999) {
icyzkungz 17:51ac4252fa1a 116 LH = temp;
icyzkungz 16:b5b9827dd5dc 117 pc.printf("Move Left Hip Motor to %f Degree\n",LH);
icyzkungz 16:b5b9827dd5dc 118
icyzkungz 17:51ac4252fa1a 119 bcom.setMotorPos(LEFT_SIDE,LH,temp_LK);
icyzkungz 16:b5b9827dd5dc 120 temp_LH = LH;
icyzkungz 16:b5b9827dd5dc 121
icyzkungz 16:b5b9827dd5dc 122 /********************Save Data*********************/
icyzkungz 17:51ac4252fa1a 123 } else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 16:b5b9827dd5dc 124
icyzkungz 17:51ac4252fa1a 125 } while(temp != 9999);
icyzkungz 17:51ac4252fa1a 126
icyzkungz 17:51ac4252fa1a 127 else if(option == 2) //Left Knee
icyzkungz 16:b5b9827dd5dc 128 do {
icyzkungz 17:51ac4252fa1a 129 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 16:b5b9827dd5dc 130
icyzkungz 17:51ac4252fa1a 131 //Send Position to Motor
icyzkungz 17:51ac4252fa1a 132 pc.printf("Input Degree : \n");
icyzkungz 17:51ac4252fa1a 133 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 134 if(temp!=9999) {
icyzkungz 17:51ac4252fa1a 135 LK = temp;
icyzkungz 16:b5b9827dd5dc 136 pc.printf("Move Left Knee Motor to %f Degree\n",LK);
icyzkungz 16:b5b9827dd5dc 137
icyzkungz 17:51ac4252fa1a 138 bcom.setMotorPos(LEFT_SIDE,temp_LH,LK);
icyzkungz 16:b5b9827dd5dc 139 temp_LK = LK;
icyzkungz 16:b5b9827dd5dc 140
icyzkungz 17:51ac4252fa1a 141
icyzkungz 16:b5b9827dd5dc 142 /********************Save Data*********************/
icyzkungz 17:51ac4252fa1a 143 } else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 16:b5b9827dd5dc 144
icyzkungz 17:51ac4252fa1a 145 } while(temp != 9999);
icyzkungz 17:51ac4252fa1a 146
icyzkungz 17:51ac4252fa1a 147
icyzkungz 17:51ac4252fa1a 148 else if(option == 3) { //Right Hip
icyzkungz 16:b5b9827dd5dc 149 do {
icyzkungz 17:51ac4252fa1a 150 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 16:b5b9827dd5dc 151
icyzkungz 17:51ac4252fa1a 152 //Send Position to Motor
icyzkungz 17:51ac4252fa1a 153 pc.printf("Input Degree : \n");
icyzkungz 17:51ac4252fa1a 154 pc.scanf("%f",&RH);
icyzkungz 17:51ac4252fa1a 155 if(temp!=9999) {
icyzkungz 17:51ac4252fa1a 156 RH = temp;
icyzkungz 16:b5b9827dd5dc 157 pc.printf("Move Right Hip Motor to %f Degree\n",RH);
icyzkungz 16:b5b9827dd5dc 158
icyzkungz 17:51ac4252fa1a 159 bcom.setMotorPos(RIGHT_SIDE,RH,temp_RK);
icyzkungz 16:b5b9827dd5dc 160 temp_RH = RH;
icyzkungz 16:b5b9827dd5dc 161
icyzkungz 17:51ac4252fa1a 162
icyzkungz 16:b5b9827dd5dc 163 /********************Save Data*********************/
icyzkungz 17:51ac4252fa1a 164 } else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 17:51ac4252fa1a 165
icyzkungz 17:51ac4252fa1a 166 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 167
icyzkungz 16:b5b9827dd5dc 168 } else if(option == 4) { //Right Knee
icyzkungz 16:b5b9827dd5dc 169 do {
icyzkungz 17:51ac4252fa1a 170 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 16:b5b9827dd5dc 171
icyzkungz 17:51ac4252fa1a 172 //Send Position to Motor
icyzkungz 17:51ac4252fa1a 173 pc.printf("Input Degree : \n");
icyzkungz 17:51ac4252fa1a 174 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 175
icyzkungz 17:51ac4252fa1a 176 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 177 RK = temp;
icyzkungz 16:b5b9827dd5dc 178 pc.printf("Move Right Knee Motor to %f Degree\n",RK);
icyzkungz 16:b5b9827dd5dc 179
icyzkungz 17:51ac4252fa1a 180 bcom.setMotorPos(RIGHT_SIDE,temp_RH,RK);
icyzkungz 16:b5b9827dd5dc 181 temp_RK = RK;
icyzkungz 16:b5b9827dd5dc 182
icyzkungz 17:51ac4252fa1a 183
icyzkungz 16:b5b9827dd5dc 184 /********************Save Data*********************/
icyzkungz 17:51ac4252fa1a 185 } else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 17:51ac4252fa1a 186
icyzkungz 17:51ac4252fa1a 187 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 188
icyzkungz 16:b5b9827dd5dc 189 } else if(option == 5) { //Left Hip
icyzkungz 16:b5b9827dd5dc 190 do {
icyzkungz 17:51ac4252fa1a 191 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 192 pc.printf("\nInput Kp of Left Hip\n");
icyzkungz 17:51ac4252fa1a 193 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 194
icyzkungz 17:51ac4252fa1a 195 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 196 pc.printf("\nChange Kp of Left Hip to %f",temp);
icyzkungz 16:b5b9827dd5dc 197
icyzkungz 17:51ac4252fa1a 198 bcom.setUpMotorKp(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 199 } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 200
icyzkungz 17:51ac4252fa1a 201 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 202
icyzkungz 16:b5b9827dd5dc 203 } else if(option == 6) { //Left Hip
icyzkungz 16:b5b9827dd5dc 204 do {
icyzkungz 17:51ac4252fa1a 205 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 206 pc.printf("\nInput Ki of Left Hip\n");
icyzkungz 17:51ac4252fa1a 207 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 208
icyzkungz 17:51ac4252fa1a 209 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 210 pc.printf("\nChange Ki of Left Hip to %f",temp);
icyzkungz 16:b5b9827dd5dc 211
icyzkungz 17:51ac4252fa1a 212 bcom.setUpMotorKi(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 213 } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 214
icyzkungz 17:51ac4252fa1a 215 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 216
icyzkungz 16:b5b9827dd5dc 217 } else if(option == 7) { //Left Hip
icyzkungz 16:b5b9827dd5dc 218 do {
icyzkungz 17:51ac4252fa1a 219 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 220 pc.printf("\nInput Kd of Left Hip\n");
icyzkungz 17:51ac4252fa1a 221 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 222
icyzkungz 17:51ac4252fa1a 223 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 224 pc.printf("\nChange Kd of Left Hip to %f",temp);
icyzkungz 17:51ac4252fa1a 225
icyzkungz 17:51ac4252fa1a 226 bcom.setUpMotorKd(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 227 } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 228
icyzkungz 17:51ac4252fa1a 229 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 230
icyzkungz 17:51ac4252fa1a 231 } else if(option == 8) { //Left Knee
icyzkungz 17:51ac4252fa1a 232 do {
icyzkungz 17:51ac4252fa1a 233 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 234 pc.printf("\nInput Kp of Left Knee\n");
icyzkungz 17:51ac4252fa1a 235 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 236
icyzkungz 17:51ac4252fa1a 237 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 238 pc.printf("\nChange Kp of Left Knee to %f",temp);
icyzkungz 16:b5b9827dd5dc 239
icyzkungz 17:51ac4252fa1a 240 bcom.setLowMotorKp(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 241 } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 242
icyzkungz 17:51ac4252fa1a 243 } while(temp != 9999);
icyzkungz 11:fceaaa7e120a 244
icyzkungz 16:b5b9827dd5dc 245 } else if(option == 9) { //Left Knee
icyzkungz 16:b5b9827dd5dc 246 do {
icyzkungz 17:51ac4252fa1a 247 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 248 pc.printf("\nInput Ki of Left Knee\n");
icyzkungz 17:51ac4252fa1a 249 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 250
icyzkungz 17:51ac4252fa1a 251 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 252 pc.printf("\nChange Ki of Left Knee to %f",temp);
icyzkungz 16:b5b9827dd5dc 253
icyzkungz 17:51ac4252fa1a 254 bcom.setLowMotorKi(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 255 } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 256
icyzkungz 17:51ac4252fa1a 257 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 258
icyzkungz 16:b5b9827dd5dc 259 } else if(option == 10) { //Left Knee
icyzkungz 16:b5b9827dd5dc 260 do {
icyzkungz 17:51ac4252fa1a 261 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 262 pc.printf("\nInput Kd of Left Knee\n");
icyzkungz 17:51ac4252fa1a 263 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 264
icyzkungz 17:51ac4252fa1a 265 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 266 pc.printf("\nChange Kd of Left Knee to %f",temp);
icyzkungz 16:b5b9827dd5dc 267
icyzkungz 17:51ac4252fa1a 268 bcom.setLowMotorKd(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 269 } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_LOWER_MOTOR);
icyzkungz 16:b5b9827dd5dc 270
icyzkungz 17:51ac4252fa1a 271 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 272
icyzkungz 16:b5b9827dd5dc 273
icyzkungz 17:51ac4252fa1a 274 } else if(option == 11) { //Right Hip
icyzkungz 17:51ac4252fa1a 275 do {
icyzkungz 17:51ac4252fa1a 276 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 277 pc.printf("\nInput Kp of Right Hip\n");
icyzkungz 17:51ac4252fa1a 278 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 279
icyzkungz 17:51ac4252fa1a 280 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 281 pc.printf("\nChange Kp of Right Hip to %f",temp);
icyzkungz 17:51ac4252fa1a 282
icyzkungz 17:51ac4252fa1a 283 bcom.setUpMotorKp(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 284 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 285
icyzkungz 17:51ac4252fa1a 286 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 287
icyzkungz 17:51ac4252fa1a 288 } else if(option == 12) { //Right Hip
icyzkungz 17:51ac4252fa1a 289 do {
icyzkungz 17:51ac4252fa1a 290 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 291 pc.printf("\nInput Ki of Right Hip\n");
icyzkungz 17:51ac4252fa1a 292 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 293
icyzkungz 17:51ac4252fa1a 294 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 295 pc.printf("\nChange Ki of Right Hip to %f",temp);
icyzkungz 17:51ac4252fa1a 296
icyzkungz 17:51ac4252fa1a 297 bcom.setUpMotorKi(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 298 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_UPPER_MOTOR);
icyzkungz 17:51ac4252fa1a 299
icyzkungz 17:51ac4252fa1a 300 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 301
icyzkungz 16:b5b9827dd5dc 302 } else if(option == 13) { //Right Hip
icyzkungz 16:b5b9827dd5dc 303 do {
icyzkungz 17:51ac4252fa1a 304 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 305 pc.printf("\nInput Kd of Right Hip\n");
icyzkungz 17:51ac4252fa1a 306 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 307
icyzkungz 17:51ac4252fa1a 308 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 309 pc.printf("\nChange Kd of Right Hip to %f",temp);
icyzkungz 16:b5b9827dd5dc 310
icyzkungz 17:51ac4252fa1a 311 bcom.setUpMotorKd(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 312 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_UPPER_MOTOR);
icyzkungz 16:b5b9827dd5dc 313
icyzkungz 17:51ac4252fa1a 314 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 315
icyzkungz 16:b5b9827dd5dc 316
icyzkungz 17:51ac4252fa1a 317 } else if(option == 14) { //Right Knee
icyzkungz 17:51ac4252fa1a 318 do {
icyzkungz 17:51ac4252fa1a 319 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 320 pc.printf("\nInput Kp of Right Knee\n");
icyzkungz 17:51ac4252fa1a 321 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 322
icyzkungz 17:51ac4252fa1a 323 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 324 pc.printf("\nChange Kp of Right Knee to %f",temp);
icyzkungz 17:51ac4252fa1a 325
icyzkungz 17:51ac4252fa1a 326 bcom.setLowMotorKp(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 327 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 328
icyzkungz 17:51ac4252fa1a 329 } while(temp != 9999);
icyzkungz 17:51ac4252fa1a 330
icyzkungz 17:51ac4252fa1a 331 } else if(option == 15) { //Right Knee
icyzkungz 17:51ac4252fa1a 332 do {
icyzkungz 17:51ac4252fa1a 333 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 334 pc.printf("\nInput Ki of Right Knee\n");
icyzkungz 17:51ac4252fa1a 335 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 336
icyzkungz 17:51ac4252fa1a 337 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 338 pc.printf("\nChange Ki of Right Knee to %f Degree\n",temp);
icyzkungz 17:51ac4252fa1a 339
icyzkungz 17:51ac4252fa1a 340 bcom.setLowMotorKi(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 341 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 342
icyzkungz 17:51ac4252fa1a 343 } while(temp != 9999);
icyzkungz 17:51ac4252fa1a 344
icyzkungz 17:51ac4252fa1a 345 } else if(option == 16) { //Right Knee
icyzkungz 17:51ac4252fa1a 346 do {
icyzkungz 17:51ac4252fa1a 347 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 348 pc.printf("\nInput Kd of Right Knee\n");
icyzkungz 17:51ac4252fa1a 349 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 350
icyzkungz 17:51ac4252fa1a 351 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 352 pc.printf("\nChange Kd of Right Knee to %f",temp);
icyzkungz 17:51ac4252fa1a 353
icyzkungz 17:51ac4252fa1a 354 bcom.setLowMotorKd(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 355 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_LOWER_MOTOR);
icyzkungz 17:51ac4252fa1a 356
icyzkungz 17:51ac4252fa1a 357 } while(temp != 9999);
icyzkungz 16:b5b9827dd5dc 358
icyzkungz 16:b5b9827dd5dc 359
icyzkungz 17:51ac4252fa1a 360 } else if(option == 17) { //Left Hip Margin
icyzkungz 17:51ac4252fa1a 361 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 362 pc.printf("Input Margin\n");
icyzkungz 17:51ac4252fa1a 363 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 364
icyzkungz 17:51ac4252fa1a 365 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 366 pc.printf("\nChange Left Hip Margin to %f\n",temp);
icyzkungz 17:51ac4252fa1a 367 bcom.setUpMargin(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 368 } else bcom.saveDataToEEPROM(LEFT_SIDE,UP_MARGIN);
icyzkungz 17:51ac4252fa1a 369 }
icyzkungz 17:51ac4252fa1a 370
icyzkungz 17:51ac4252fa1a 371 else if(option == 18) { //Left Knee Margin
icyzkungz 17:51ac4252fa1a 372 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 373 pc.printf("Input Margin\n");
icyzkungz 17:51ac4252fa1a 374 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 375
icyzkungz 17:51ac4252fa1a 376 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 377 pc.printf("\nChange Left Knee Margin to %f\n",temp);
icyzkungz 17:51ac4252fa1a 378 bcom.setLowMargin(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 379 } else bcom.saveDataToEEPROM(LEFT_SIDE,LOW_MARGIN);
icyzkungz 17:51ac4252fa1a 380 }
icyzkungz 16:b5b9827dd5dc 381
icyzkungz 17:51ac4252fa1a 382 else if(option == 19) { //Right Hip Margin
icyzkungz 17:51ac4252fa1a 383 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 384 pc.printf("Input Margin\n");
icyzkungz 17:51ac4252fa1a 385 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 386
icyzkungz 17:51ac4252fa1a 387 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 388 pc.printf("\nChange Right Hip Margin to %f\n",temp);
icyzkungz 17:51ac4252fa1a 389 bcom.setUpMargin(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 390 } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_MARGIN);
icyzkungz 17:51ac4252fa1a 391 }
icyzkungz 16:b5b9827dd5dc 392
icyzkungz 17:51ac4252fa1a 393 else if(option == 20) { //Right Knee Margin
icyzkungz 17:51ac4252fa1a 394 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 395 pc.printf("Input Margin\n");
icyzkungz 17:51ac4252fa1a 396 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 397
icyzkungz 17:51ac4252fa1a 398 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 399 pc.printf("\nChange Right Knee Margin to %f\n",temp);
icyzkungz 17:51ac4252fa1a 400 bcom.setLowMargin(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 401 } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_MARGIN);
icyzkungz 17:51ac4252fa1a 402 }
icyzkungz 16:b5b9827dd5dc 403
icyzkungz 17:51ac4252fa1a 404 else if(option == 21) { //Lenght of Left Link Hip
icyzkungz 17:51ac4252fa1a 405 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 406 pc.printf("Input Lenght of Left Link Hip\n");
icyzkungz 17:51ac4252fa1a 407 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 408
icyzkungz 17:51ac4252fa1a 409 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 410 pc.printf("\nLenght of Left Link Hip = %f\n",temp);
icyzkungz 17:51ac4252fa1a 411 LLink0 = temp;
icyzkungz 17:51ac4252fa1a 412 a = true;
icyzkungz 17:51ac4252fa1a 413 bcom.setUpLinkLength(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 414 } else bcom.saveDataToEEPROM(LEFT_SIDE,UP_LINK_LENGTH);
icyzkungz 17:51ac4252fa1a 415 }
icyzkungz 17:51ac4252fa1a 416
icyzkungz 17:51ac4252fa1a 417 else if(option == 22) { //Lenght of Left Link Knee
icyzkungz 17:51ac4252fa1a 418 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 419 pc.printf("Input Lenght of Left Link Knee\n");
icyzkungz 17:51ac4252fa1a 420 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 421
icyzkungz 17:51ac4252fa1a 422 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 423 pc.printf("\nLenght of Left Link Knee = %f\n",temp);
icyzkungz 17:51ac4252fa1a 424 LLink1 = temp;
icyzkungz 17:51ac4252fa1a 425 b = true;
icyzkungz 17:51ac4252fa1a 426 bcom.setLowLinkLength(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 427 } else bcom.saveDataToEEPROM(LEFT_SIDE,LOW_LINK_LENGTH);
icyzkungz 17:51ac4252fa1a 428 }
icyzkungz 16:b5b9827dd5dc 429
icyzkungz 17:51ac4252fa1a 430 else if(option == 23) { //Lenght of Right Link Hip
icyzkungz 17:51ac4252fa1a 431 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 432 pc.printf("Input Lenght of Right Link Hip\n");
icyzkungz 17:51ac4252fa1a 433 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 434
icyzkungz 17:51ac4252fa1a 435 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 436 pc.printf("\nLenght of Right Link Hip = %f\n",temp);
icyzkungz 17:51ac4252fa1a 437 RLink0 = temp;
icyzkungz 17:51ac4252fa1a 438 c = true;
icyzkungz 17:51ac4252fa1a 439 bcom.setUpLinkLength(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 440 } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_LINK_LENGTH);
icyzkungz 17:51ac4252fa1a 441 }
icyzkungz 16:b5b9827dd5dc 442
icyzkungz 17:51ac4252fa1a 443 else if(option == 24) { //Lenght of Right Link Knee
icyzkungz 17:51ac4252fa1a 444 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 445 pc.printf("Input Lenght of Right Link Knee\n");
icyzkungz 17:51ac4252fa1a 446 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 447
icyzkungz 17:51ac4252fa1a 448 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 449 pc.printf("\nLenght of Right Link Knee = %f\n",temp);
icyzkungz 17:51ac4252fa1a 450 RLink1 = temp;
icyzkungz 17:51ac4252fa1a 451 d = true;
icyzkungz 17:51ac4252fa1a 452 bcom.setLowLinkLength(RIGHT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 453 } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_LINK_LENGTH);
icyzkungz 17:51ac4252fa1a 454 }
icyzkungz 16:b5b9827dd5dc 455
icyzkungz 17:51ac4252fa1a 456 else if(option == 25) { //Offset
icyzkungz 17:51ac4252fa1a 457 if(a == true && b == true && c == true && d == true) {
icyzkungz 17:51ac4252fa1a 458 float LHipAngle,LKneeAngle;
icyzkungz 17:51ac4252fa1a 459 float RHipAngle,RKneeAngle;
icyzkungz 17:51ac4252fa1a 460 bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle);
icyzkungz 17:51ac4252fa1a 461 wait_ms(90);
icyzkungz 17:51ac4252fa1a 462 bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle);
icyzkungz 17:51ac4252fa1a 463 wait_ms(90);
icyzkungz 17:51ac4252fa1a 464
icyzkungz 17:51ac4252fa1a 465 L.set_Link_Hip(LLink0);
icyzkungz 17:51ac4252fa1a 466 L.set_Link_Knee(LLink1);
icyzkungz 17:51ac4252fa1a 467 L.set_Zeta_Hip(LHipAngle);
icyzkungz 17:51ac4252fa1a 468 L.set_Zeta_Knee(LKneeAngle);
icyzkungz 17:51ac4252fa1a 469
icyzkungz 17:51ac4252fa1a 470 R.set_Link_Hip(RLink0);
icyzkungz 17:51ac4252fa1a 471 R.set_Link_Knee(RLink1);
icyzkungz 17:51ac4252fa1a 472 R.set_Zeta_Hip(RHipAngle);
icyzkungz 17:51ac4252fa1a 473 R.set_Zeta_Knee(RKneeAngle);
icyzkungz 17:51ac4252fa1a 474
icyzkungz 17:51ac4252fa1a 475 L.ForwardKinematicCalculation();
icyzkungz 17:51ac4252fa1a 476 T.ForwardKinematicCalculation();
icyzkungz 16:b5b9827dd5dc 477
icyzkungz 17:51ac4252fa1a 478 float offset_Y,offset_Z;
icyzkungz 17:51ac4252fa1a 479 float y1,y2,z1,z2;
icyzkungz 17:51ac4252fa1a 480 y1 = L.get_Position_Y();
icyzkungz 17:51ac4252fa1a 481 y2 = R.get_Position_Y();
icyzkungz 17:51ac4252fa1a 482 z1 = L.get_Position_Z();
icyzkungz 17:51ac4252fa1a 483 z2 = R.get_Position_Z();
icyzkungz 17:51ac4252fa1a 484 offset_Y = y1-y2;
icyzkungz 17:51ac4252fa1a 485 offset_Z = z1-z2;
icyzkungz 17:51ac4252fa1a 486
icyzkungz 17:51ac4252fa1a 487 bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z);
icyzkungz 17:51ac4252fa1a 488
icyzkungz 17:51ac4252fa1a 489 bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET);
icyzkungz 16:b5b9827dd5dc 490
icyzkungz 17:51ac4252fa1a 491 } else {
icyzkungz 17:51ac4252fa1a 492 pc.printf("\nYou have to do choice 21-23 first\n\n");
icyzkungz 17:51ac4252fa1a 493 wait(2);
icyzkungz 17:51ac4252fa1a 494 }
icyzkungz 17:51ac4252fa1a 495 }
icyzkungz 17:51ac4252fa1a 496
icyzkungz 17:51ac4252fa1a 497 else if(option == 26) { //setBodyWidth
icyzkungz 17:51ac4252fa1a 498 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 499 pc.printf("Input Body Width\n");
icyzkungz 17:51ac4252fa1a 500 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 501 pc.printf("\nBody Lenght = %f\n",temp);
icyzkungz 17:51ac4252fa1a 502 bcom.setBodyWidth(LEFT_SIDE,temp);
icyzkungz 17:51ac4252fa1a 503 bcom.saveDataToEEPROM(LEFT_SIDE,BODY_WIDTH);
icyzkungz 17:51ac4252fa1a 504 }
icyzkungz 16:b5b9827dd5dc 505
icyzkungz 17:51ac4252fa1a 506 else if(option == 27) { //Set Maximum Hip Angle Range
icyzkungz 17:51ac4252fa1a 507 do {
icyzkungz 17:51ac4252fa1a 508 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 509 pc.printf("1) Left Side\n");
icyzkungz 17:51ac4252fa1a 510 pc.printf("2) Right Side\n");
icyzkungz 17:51ac4252fa1a 511 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 512
icyzkungz 17:51ac4252fa1a 513 if(temp==1) { //Left
icyzkungz 17:51ac4252fa1a 514 pc.printf("Input Maximum Hip Angle Range of Left Side\n");
icyzkungz 17:51ac4252fa1a 515 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 516
icyzkungz 17:51ac4252fa1a 517 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 518 pc.printf("\nMaximum Hip Angle Range of Left Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 519 bcom.setUpAngleRange(LEFT_SIDE,temp,Lmin.Hip);
icyzkungz 17:51ac4252fa1a 520 Lmax.Hip = temp;
icyzkungz 17:51ac4252fa1a 521 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 17:51ac4252fa1a 522
icyzkungz 17:51ac4252fa1a 523 } else if(temp==2) { //Right
icyzkungz 17:51ac4252fa1a 524 pc.printf("Input Maximum Hip Angle Range of Right Side\n");
icyzkungz 17:51ac4252fa1a 525 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 526
icyzkungz 17:51ac4252fa1a 527 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 528 pc.printf("\nMaximum Hip Angle Range of Right Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 529 bcom.setUpAngleRange(RIGHT_SIDE,temp,Rmin.Hip);
icyzkungz 17:51ac4252fa1a 530 Rmax.Hip = temp;
icyzkungz 17:51ac4252fa1a 531 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 17:51ac4252fa1a 532 }
icyzkungz 17:51ac4252fa1a 533 } while(temp!=9999);
icyzkungz 17:51ac4252fa1a 534 }
icyzkungz 16:b5b9827dd5dc 535
icyzkungz 17:51ac4252fa1a 536 else if(option == 28) { //Set Minumum Hip Angle Range
icyzkungz 17:51ac4252fa1a 537 do {
icyzkungz 17:51ac4252fa1a 538 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 539 pc.printf("1) Left Side\n");
icyzkungz 17:51ac4252fa1a 540 pc.printf("2) Right Side\n");
icyzkungz 17:51ac4252fa1a 541 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 542
icyzkungz 17:51ac4252fa1a 543 if(temp==1) { //Left
icyzkungz 17:51ac4252fa1a 544 pc.printf("Input Minumum Hip Angle Range of Left Side\n");
icyzkungz 17:51ac4252fa1a 545 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 546
icyzkungz 17:51ac4252fa1a 547 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 548 pc.printf("\nMinumum Hip Angle Range of Left Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 549 bcom.setLowAngleRange(LEFT_SIDE,Lmax.Hip,temp);
icyzkungz 17:51ac4252fa1a 550 Lmin.Hip = temp;
icyzkungz 17:51ac4252fa1a 551 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 17:51ac4252fa1a 552
icyzkungz 17:51ac4252fa1a 553 } else if(temp==2) { //Right
icyzkungz 17:51ac4252fa1a 554 pc.printf("Input Minumum Hip Angle Range of Right Side\n");
icyzkungz 17:51ac4252fa1a 555 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 556
icyzkungz 17:51ac4252fa1a 557 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 558 pc.printf("\nMinumum Hip Angle Range of Right Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 559 bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Hip,temp);
icyzkungz 17:51ac4252fa1a 560 Rmin.Hip = temp;
icyzkungz 17:51ac4252fa1a 561 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 16:b5b9827dd5dc 562 }
icyzkungz 17:51ac4252fa1a 563 } while(temp!=9999);
icyzkungz 17:51ac4252fa1a 564 }
icyzkungz 16:b5b9827dd5dc 565
icyzkungz 16:b5b9827dd5dc 566
icyzkungz 17:51ac4252fa1a 567 else if(option == 29) { //Set Maximum Knee Angle Range
icyzkungz 17:51ac4252fa1a 568 do {
icyzkungz 17:51ac4252fa1a 569 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 570 pc.printf("1) Left Side\n");
icyzkungz 17:51ac4252fa1a 571 pc.printf("2) Right Side\n");
icyzkungz 17:51ac4252fa1a 572 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 573
icyzkungz 17:51ac4252fa1a 574 if(temp==1) { //Left
icyzkungz 17:51ac4252fa1a 575 pc.printf("Input Maximum Knee Angle Range of Left Side\n");
icyzkungz 17:51ac4252fa1a 576 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 577
icyzkungz 17:51ac4252fa1a 578 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 579 pc.printf("\nMaximum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 580 bcom.setLowAngleRange(LEFT_SIDE,temp,Lmin.Knee);
icyzkungz 17:51ac4252fa1a 581 Lmax.Knee = temp;
icyzkungz 17:51ac4252fa1a 582 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 17:51ac4252fa1a 583
icyzkungz 17:51ac4252fa1a 584 } else if(temp==2) { //Right
icyzkungz 17:51ac4252fa1a 585 pc.printf("Input Maximum Knee Angle Range of Right Side\n");
icyzkungz 17:51ac4252fa1a 586 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 587
icyzkungz 17:51ac4252fa1a 588 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 589 pc.printf("\nMaximum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 590 bcom.setLowAngleRange(RIGHT_SIDE,temp,Rmin.Knee);
icyzkungz 17:51ac4252fa1a 591 Rmax.Knee = temp;
icyzkungz 17:51ac4252fa1a 592 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 17:51ac4252fa1a 593 }
icyzkungz 17:51ac4252fa1a 594 } while(temp!=9999);
icyzkungz 17:51ac4252fa1a 595 }
icyzkungz 16:b5b9827dd5dc 596
icyzkungz 17:51ac4252fa1a 597 else if(option == 30) { //Set Minumum Knee Angle Range
icyzkungz 17:51ac4252fa1a 598 do {
icyzkungz 17:51ac4252fa1a 599 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 17:51ac4252fa1a 600 pc.printf("1) Left Side\n");
icyzkungz 17:51ac4252fa1a 601 pc.printf("2) Right Side\n");
icyzkungz 17:51ac4252fa1a 602 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 603
icyzkungz 17:51ac4252fa1a 604 if(temp==1) { //Left
icyzkungz 17:51ac4252fa1a 605 pc.printf("Input Minumum Knee Angle Range of Left Side\n");
icyzkungz 17:51ac4252fa1a 606 pc.scanf("%f",&temp);
icyzkungz 17:51ac4252fa1a 607
icyzkungz 17:51ac4252fa1a 608 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 609 pc.printf("\nMinumum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 610 bcom.setLowAngleRange(LEFT_SIDE,Lmax.Knee,temp);
icyzkungz 17:51ac4252fa1a 611 Lmin.Knee = temp;
icyzkungz 17:51ac4252fa1a 612 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 16:b5b9827dd5dc 613
icyzkungz 17:51ac4252fa1a 614 } else if(temp==2) { //Right
icyzkungz 17:51ac4252fa1a 615 pc.printf("Input Minumum Knee Angle Range of Right Side\n");
icyzkungz 17:51ac4252fa1a 616 pc.scanf("%f",&temp);
icyzkungz 16:b5b9827dd5dc 617
icyzkungz 17:51ac4252fa1a 618 if(temp != 9999) {
icyzkungz 17:51ac4252fa1a 619 pc.printf("\nMinumum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 17:51ac4252fa1a 620 bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Knee,temp);
icyzkungz 17:51ac4252fa1a 621 Rmin.Knee = temp;
icyzkungz 17:51ac4252fa1a 622 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 17:51ac4252fa1a 623 }
icyzkungz 17:51ac4252fa1a 624 } while(temp!=9999);
icyzkungz 17:51ac4252fa1a 625 }
icyzkungz 17:51ac4252fa1a 626
icyzkungz 17:51ac4252fa1a 627
icyzkungz 17:51ac4252fa1a 628
icyzkungz 17:51ac4252fa1a 629
icyzkungz 17:51ac4252fa1a 630
icyzkungz 17:51ac4252fa1a 631
icyzkungz 17:51ac4252fa1a 632 else if(option == 40) {
icyzkungz 16:b5b9827dd5dc 633 pc.printf("Are You Sure ?\n");
icyzkungz 16:b5b9827dd5dc 634 pc.printf("\n1) Yes\n");
icyzkungz 16:b5b9827dd5dc 635 pc.printf("2) No\n");
icyzkungz 16:b5b9827dd5dc 636
icyzkungz 16:b5b9827dd5dc 637 pc.scanf("%d",&option);
icyzkungz 16:b5b9827dd5dc 638 if(option==1) {
icyzkungz 17:51ac4252fa1a 639 option = 40;
icyzkungz 16:b5b9827dd5dc 640 pc.printf("Please Push Button Restart\n");
icyzkungz 16:b5b9827dd5dc 641 } else pc.printf("Return to Main Menu\n");
icyzkungz 16:b5b9827dd5dc 642
icyzkungz 16:b5b9827dd5dc 643 }
icyzkungz 16:b5b9827dd5dc 644
icyzkungz 16:b5b9827dd5dc 645
icyzkungz 17:51ac4252fa1a 646 else { // if user has entered invalid choice
icyzkungz 17:51ac4252fa1a 647 pc.printf("\nInvalid Option entered\n");
icyzkungz 16:b5b9827dd5dc 648 }
icyzkungz 17:51ac4252fa1a 649 } while(option != 40);
icyzkungz 12:8d773bc149b2 650
icyzkungz 11:fceaaa7e120a 651 }
icyzkungz 11:fceaaa7e120a 652
icyzkungz 17:51ac4252fa1a 653 void getData()
icyzkungz 11:fceaaa7e120a 654 {
icyzkungz 17:51ac4252fa1a 655
icyzkungz 17:51ac4252fa1a 656 }
icyzkungz 11:fceaaa7e120a 657
icyzkungz 11:fceaaa7e120a 658
onehorse 0:2e5e65a6fb30 659 int main()
onehorse 0:2e5e65a6fb30 660 {
icyzkungz 11:fceaaa7e120a 661 pc.baud(115200);
icyzkungz 17:51ac4252fa1a 662
icyzkungz 17:51ac4252fa1a 663 if(!button) { //Set up mode
icyzkungz 17:51ac4252fa1a 664 while(!button);
icyzkungz 17:51ac4252fa1a 665 pc.printf("Switch Mode\n");
icyzkungz 17:51ac4252fa1a 666 SwMode();
icyzkungz 17:51ac4252fa1a 667 }
icyzkungz 11:fceaaa7e120a 668
icyzkungz 11:fceaaa7e120a 669 /*while(1){
icyzkungz 11:fceaaa7e120a 670 Kinematic test('P',10,15,10,10);
icyzkungz 11:fceaaa7e120a 671 pc.printf("\n\nLink Hip : %f, Link Knee : %f, Position Y : %f, Position Z : %f\n",test.get_Link_Hip(),test.get_Link_Knee(),test.get_Position_Y(),test.get_Position_Z());
icyzkungz 11:fceaaa7e120a 672 pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee());
icyzkungz 11:fceaaa7e120a 673 test.set_Link_Hip(25);
icyzkungz 11:fceaaa7e120a 674 test.set_Link_Knee(30);
icyzkungz 11:fceaaa7e120a 675 test.set_Position_Y(35);
icyzkungz 11:fceaaa7e120a 676 test.set_Position_Z(40);
icyzkungz 11:fceaaa7e120a 677 test.set_Zeta_Hip(45);
icyzkungz 11:fceaaa7e120a 678 test.set_Zeta_Knee(50);
icyzkungz 11:fceaaa7e120a 679 pc.printf("\nLink Hip : %f, Link Knee : %f, Position Y : %f, Position Z : %f\n",test.get_Link_Hip(),test.get_Link_Knee(),test.get_Position_Y(),test.get_Position_Z());
icyzkungz 11:fceaaa7e120a 680 pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee());
icyzkungz 11:fceaaa7e120a 681
icyzkungz 11:fceaaa7e120a 682 while(1);
icyzkungz 11:fceaaa7e120a 683 }*/
icyzkungz 6:fa132fd505ce 684
soulx 3:3e04c1c03cab 685
soulx 3:3e04c1c03cab 686
soulx 3:3e04c1c03cab 687 //Set up I2C
soulx 3:3e04c1c03cab 688 i2c.frequency(400000); // use fast (400 kHz) I2C
onehorse 0:2e5e65a6fb30 689
soulx 3:3e04c1c03cab 690 pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
soulx 3:3e04c1c03cab 691
soulx 3:3e04c1c03cab 692 t.start();
soulx 3:3e04c1c03cab 693
soulx 3:3e04c1c03cab 694 //mpu9250.resetMPU9250();
soulx 3:3e04c1c03cab 695 // Read the WHO_AM_I register, this is a good test of communication
soulx 3:3e04c1c03cab 696 uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
soulx 3:3e04c1c03cab 697 pc.printf("I AM 0x%x\n\r", whoami);
soulx 3:3e04c1c03cab 698 pc.printf("I SHOULD BE 0x71\n\r");
soulx 3:3e04c1c03cab 699
soulx 3:3e04c1c03cab 700 if (whoami == 0x71) { // WHO_AM_I should always be 0x68
soulx 3:3e04c1c03cab 701 pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
soulx 3:3e04c1c03cab 702 pc.printf("MPU9250 is online...\n\r");
soulx 3:3e04c1c03cab 703 sprintf(buffer, "0x%x", whoami);
soulx 3:3e04c1c03cab 704 wait(1);
soulx 3:3e04c1c03cab 705
soulx 3:3e04c1c03cab 706 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
soulx 3:3e04c1c03cab 707 mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
soulx 3:3e04c1c03cab 708 pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
soulx 3:3e04c1c03cab 709 pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
soulx 3:3e04c1c03cab 710 pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
soulx 3:3e04c1c03cab 711 pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
soulx 3:3e04c1c03cab 712 pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
soulx 3:3e04c1c03cab 713 pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
soulx 3:3e04c1c03cab 714 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
soulx 3:3e04c1c03cab 715 pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
soulx 3:3e04c1c03cab 716 pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
soulx 3:3e04c1c03cab 717 pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
soulx 3:3e04c1c03cab 718 pc.printf("x accel bias = %f\n\r", accelBias[0]);
soulx 3:3e04c1c03cab 719 pc.printf("y accel bias = %f\n\r", accelBias[1]);
soulx 3:3e04c1c03cab 720 pc.printf("z accel bias = %f\n\r", accelBias[2]);
soulx 3:3e04c1c03cab 721 wait(2);
soulx 3:3e04c1c03cab 722 mpu9250.initMPU9250();
soulx 3:3e04c1c03cab 723 pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
soulx 3:3e04c1c03cab 724 mpu9250.initAK8963(magCalibration);
soulx 3:3e04c1c03cab 725 pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
soulx 3:3e04c1c03cab 726
soulx 3:3e04c1c03cab 727 whoami = mpu9250.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963); // Read WHO_AM_I register for MPU-9250
soulx 3:3e04c1c03cab 728 pc.printf("I AM 0x%x\n\r", whoami);
soulx 3:3e04c1c03cab 729 pc.printf("I SHOULD BE 0x48\n\r");
soulx 3:3e04c1c03cab 730 if(whoami != 0x48) {
soulx 3:3e04c1c03cab 731 while(1);
soulx 3:3e04c1c03cab 732 }
soulx 3:3e04c1c03cab 733 pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
soulx 3:3e04c1c03cab 734 pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
soulx 3:3e04c1c03cab 735 if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
soulx 3:3e04c1c03cab 736 if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
soulx 3:3e04c1c03cab 737 if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
soulx 3:3e04c1c03cab 738 if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
soulx 3:3e04c1c03cab 739 wait(1);
soulx 3:3e04c1c03cab 740 } else {
soulx 3:3e04c1c03cab 741 pc.printf("Could not connect to MPU9250: \n\r");
soulx 3:3e04c1c03cab 742 pc.printf("%#x \n", whoami);
soulx 3:3e04c1c03cab 743
soulx 3:3e04c1c03cab 744 sprintf(buffer, "WHO_AM_I 0x%x", whoami);
soulx 3:3e04c1c03cab 745
soulx 3:3e04c1c03cab 746 while(1) ; // Loop forever if communication doesn't happen
onehorse 0:2e5e65a6fb30 747 }
onehorse 0:2e5e65a6fb30 748
onehorse 0:2e5e65a6fb30 749 mpu9250.getAres(); // Get accelerometer sensitivity
onehorse 0:2e5e65a6fb30 750 mpu9250.getGres(); // Get gyro sensitivity
onehorse 0:2e5e65a6fb30 751 mpu9250.getMres(); // Get magnetometer sensitivity
onehorse 0:2e5e65a6fb30 752 pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
onehorse 0:2e5e65a6fb30 753 pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
onehorse 0:2e5e65a6fb30 754 pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
icyzkungz 6:fa132fd505ce 755
icyzkungz 6:fa132fd505ce 756 /*pc.printf("START scan mag\n\r\n\r\n\r");
icyzkungz 6:fa132fd505ce 757 //wait(1);
icyzkungz 6:fa132fd505ce 758 for(int i=0; i<4000; i++) {
icyzkungz 6:fa132fd505ce 759 mpu9250.readMagData(magCount);
soulx 3:3e04c1c03cab 760
icyzkungz 6:fa132fd505ce 761 if(magCount[0]<xmin)
icyzkungz 6:fa132fd505ce 762 xmin = magCount[0];
icyzkungz 6:fa132fd505ce 763 if(magCount[0]>xmax)
icyzkungz 6:fa132fd505ce 764 xmax = magCount[0];
icyzkungz 6:fa132fd505ce 765
icyzkungz 6:fa132fd505ce 766 if(magCount[1]<ymin)
icyzkungz 6:fa132fd505ce 767 ymin = magCount[1];
icyzkungz 6:fa132fd505ce 768 if(magCount[1]>ymax)
icyzkungz 6:fa132fd505ce 769 ymax = magCount[1];
icyzkungz 6:fa132fd505ce 770
icyzkungz 6:fa132fd505ce 771 if(magCount[2]<zmin)
icyzkungz 6:fa132fd505ce 772 zmin = magCount[2];
icyzkungz 6:fa132fd505ce 773 if(magCount[2]>zmax)
icyzkungz 6:fa132fd505ce 774 zmax = magCount[2];
soulx 3:3e04c1c03cab 775
soulx 3:3e04c1c03cab 776
icyzkungz 6:fa132fd505ce 777 wait_ms(10);
soulx 3:3e04c1c03cab 778 }
soulx 3:3e04c1c03cab 779 pc.printf("FINISH scan\r\n\r\n");
soulx 3:3e04c1c03cab 780 pc.printf("Mx Max= %f Min= %f\n\r",xmax,xmin);
soulx 3:3e04c1c03cab 781 pc.printf("My Max= %f Min= %f\n\r",ymax,ymin);
icyzkungz 6:fa132fd505ce 782 pc.printf("Mz Max= %f Min= %f\n\r",zmax,zmin);*/
icyzkungz 6:fa132fd505ce 783
icyzkungz 6:fa132fd505ce 784 /*xmax = 188.000000;
icyzkungz 6:fa132fd505ce 785 xmin = -316.000000;
icyzkungz 6:fa132fd505ce 786 ymax = 485.000000;
icyzkungz 6:fa132fd505ce 787 ymin = -26.000000;
icyzkungz 6:fa132fd505ce 788 zmax = 165.000000;
icyzkungz 6:fa132fd505ce 789 xmin = -230.000000;
soulx 3:3e04c1c03cab 790
icyzkungz 6:fa132fd505ce 791 //Ice room
icyzkungz 6:fa132fd505ce 792 xmax = 101.000000;
icyzkungz 6:fa132fd505ce 793 xmin = -296.000000;
icyzkungz 6:fa132fd505ce 794 ymax = 320.000000;
icyzkungz 6:fa132fd505ce 795 ymin = -85.000000;
icyzkungz 6:fa132fd505ce 796 zmax = 208.000000;
icyzkungz 6:fa132fd505ce 797 xmin = -202.000000;
icyzkungz 6:fa132fd505ce 798
icyzkungz 6:fa132fd505ce 799 xmax = 115.000000;
icyzkungz 6:fa132fd505ce 800 xmin = -309.000000;
icyzkungz 6:fa132fd505ce 801 ymax = 350.000000;
icyzkungz 6:fa132fd505ce 802 ymin = -119.000000;
icyzkungz 6:fa132fd505ce 803 zmax = 235.000000;
icyzkungz 6:fa132fd505ce 804 zmin = -224.000000;*/
icyzkungz 6:fa132fd505ce 805
icyzkungz 6:fa132fd505ce 806 xmax = 120.000000;
icyzkungz 6:fa132fd505ce 807 xmin = -306.000000;
icyzkungz 6:fa132fd505ce 808 ymax = 340.000000;
icyzkungz 6:fa132fd505ce 809 ymin = -90.000000;
icyzkungz 6:fa132fd505ce 810 zmax = 219.000000;
icyzkungz 6:fa132fd505ce 811 zmin = -195.000000;
soulx 3:3e04c1c03cab 812
soulx 3:3e04c1c03cab 813
soulx 3:3e04c1c03cab 814
soulx 4:1e5db958fd1b 815 magbias[0] = -1.0;
soulx 4:1e5db958fd1b 816 magbias[1] = -1.0;
soulx 4:1e5db958fd1b 817 magbias[2] = -1.0;
soulx 4:1e5db958fd1b 818
soulx 4:1e5db958fd1b 819 magCalibration[0] = 2.0f / (xmax -xmin);
soulx 4:1e5db958fd1b 820 magCalibration[1] = 2.0f / (ymax -ymin);
soulx 4:1e5db958fd1b 821 magCalibration[2] = 2.0f / (zmax -zmin);
soulx 4:1e5db958fd1b 822
soulx 3:3e04c1c03cab 823 //magbias[0] = (xmin-xmax)/2.0f; // User environmental x-axis correction in milliGauss, should be automatically calculated
soulx 3:3e04c1c03cab 824 //magbias[1] = (ymin-ymax)/2.0f; // User environmental x-axis correction in milliGauss
soulx 3:3e04c1c03cab 825 //magbias[2] = (zmin-zmax)/2.0f; // User environmental x-axis correction in milliGauss
icyzkungz 6:fa132fd505ce 826 pc.printf("mag[0] %f",magbias[0]);
icyzkungz 6:fa132fd505ce 827 pc.printf("mag[1] %f",magbias[1]);
icyzkungz 6:fa132fd505ce 828 pc.printf("mag[2] %f\n\r",magbias[2]);
soulx 3:3e04c1c03cab 829 // resalt = atan(magY+((yMin-yMax)/2),magX+(xMin-xMax)/2))*180/PI;
onehorse 0:2e5e65a6fb30 830
soulx 3:3e04c1c03cab 831
icyzkungz 6:fa132fd505ce 832 float temp_time;
icyzkungz 6:fa132fd505ce 833
soulx 3:3e04c1c03cab 834 while(1) {
icyzkungz 6:fa132fd505ce 835 temp_time = t.read();
soulx 3:3e04c1c03cab 836 // If intPin goes high, all data registers have new data
soulx 3:3e04c1c03cab 837 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
soulx 3:3e04c1c03cab 838
soulx 3:3e04c1c03cab 839 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
soulx 3:3e04c1c03cab 840 // Now we'll calculate the accleration value into actual g's
soulx 3:3e04c1c03cab 841 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
soulx 3:3e04c1c03cab 842 ay = (float)accelCount[1]*aRes - accelBias[1];
soulx 3:3e04c1c03cab 843 az = (float)accelCount[2]*aRes - accelBias[2];
soulx 3:3e04c1c03cab 844
soulx 3:3e04c1c03cab 845 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
soulx 3:3e04c1c03cab 846 // Calculate the gyro value into actual degrees per second
soulx 3:3e04c1c03cab 847 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
soulx 3:3e04c1c03cab 848 gy = (float)gyroCount[1]*gRes - gyroBias[1];
soulx 3:3e04c1c03cab 849 gz = (float)gyroCount[2]*gRes - gyroBias[2];
soulx 3:3e04c1c03cab 850
soulx 3:3e04c1c03cab 851 mpu9250.readMagData(magCount); // Read the x/y/z adc values
soulx 3:3e04c1c03cab 852 // Calculate the magnetometer values in milliGauss
soulx 3:3e04c1c03cab 853 // Include factory calibration per data sheet and user environmental corrections
icyzkungz 6:fa132fd505ce 854 /* if(magCount[0]<xmin)
icyzkungz 6:fa132fd505ce 855 xmin = magCount[0];
icyzkungz 6:fa132fd505ce 856 if(magCount[0]>xmax)
icyzkungz 6:fa132fd505ce 857 xmax = magCount[0];
soulx 3:3e04c1c03cab 858
icyzkungz 6:fa132fd505ce 859 if(magCount[1]<ymin)
icyzkungz 6:fa132fd505ce 860 ymin = magCount[1];
icyzkungz 6:fa132fd505ce 861 if(magCount[1]>ymax)
icyzkungz 6:fa132fd505ce 862 ymax = magCount[1];
soulx 3:3e04c1c03cab 863
icyzkungz 6:fa132fd505ce 864 if(magCount[2]<zmin)
icyzkungz 6:fa132fd505ce 865 zmin = magCount[2];
icyzkungz 6:fa132fd505ce 866 if(mz>zmax)
icyzkungz 6:fa132fd505ce 867 zmax = mz;
icyzkungz 6:fa132fd505ce 868 wait_ms(1);
icyzkungz 6:fa132fd505ce 869 */
icyzkungz 6:fa132fd505ce 870 // pc.printf("FINISH scan\r\n\r\n");
soulx 3:3e04c1c03cab 871
soulx 4:1e5db958fd1b 872 // mx = (float)magCount[0]*mRes*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set
soulx 4:1e5db958fd1b 873 // my = (float)magCount[1]*mRes*magCalibration[1] + magbias[1];
soulx 4:1e5db958fd1b 874 // mz = (float)magCount[2]*mRes*magCalibration[2] + magbias[2];
soulx 4:1e5db958fd1b 875
soulx 4:1e5db958fd1b 876 mx = ((float)magCount[0]-xmin)*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set
soulx 4:1e5db958fd1b 877 my = ((float)magCount[1]-ymin)*magCalibration[1] + magbias[1];
soulx 4:1e5db958fd1b 878 mz = ((float)magCount[2]-zmin)*magCalibration[2] + magbias[2];
soulx 3:3e04c1c03cab 879
soulx 3:3e04c1c03cab 880 // mx = (float)magCount[0]*1.499389499f - magbias[0]; // get actual magnetometer value, this depends on scale being set
soulx 3:3e04c1c03cab 881 // my = (float)magCount[1]*1.499389499f - magbias[1];
soulx 3:3e04c1c03cab 882 // mz = (float)magCount[2]*1.499389499f - magbias[2];
soulx 3:3e04c1c03cab 883
soulx 3:3e04c1c03cab 884
soulx 3:3e04c1c03cab 885
soulx 3:3e04c1c03cab 886
soulx 3:3e04c1c03cab 887 }
soulx 3:3e04c1c03cab 888
soulx 3:3e04c1c03cab 889 Now = t.read_us();
soulx 3:3e04c1c03cab 890 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
soulx 3:3e04c1c03cab 891 lastUpdate = Now;
soulx 3:3e04c1c03cab 892
soulx 3:3e04c1c03cab 893 sum += deltat;
soulx 3:3e04c1c03cab 894 sumCount++;
soulx 3:3e04c1c03cab 895
onehorse 0:2e5e65a6fb30 896 // if(lastUpdate - firstUpdate > 10000000.0f) {
onehorse 0:2e5e65a6fb30 897 // beta = 0.04; // decrease filter gain after stabilized
onehorse 0:2e5e65a6fb30 898 // zeta = 0.015; // increasey bias drift gain after stabilized
soulx 3:3e04c1c03cab 899 // }
soulx 3:3e04c1c03cab 900
soulx 3:3e04c1c03cab 901 // Pass gyro rate as rad/s
icyzkungz 6:fa132fd505ce 902 //mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
icyzkungz 6:fa132fd505ce 903 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
soulx 3:3e04c1c03cab 904
soulx 3:3e04c1c03cab 905 // Serial print and/or display at 0.5 s rate independent of data rates
soulx 3:3e04c1c03cab 906 delt_t = t.read_ms() - count;
icyzkungz 6:fa132fd505ce 907 if(temp_time > 8) {
icyzkungz 6:fa132fd505ce 908 if (delt_t > 500) { // update LCD once per half-second independent of read rate
soulx 3:3e04c1c03cab 909
icyzkungz 6:fa132fd505ce 910 /*pc.printf("ax = %f", 1000*ax);
icyzkungz 6:fa132fd505ce 911 pc.printf(" ay = %f", 1000*ay);
icyzkungz 6:fa132fd505ce 912 pc.printf(" az = %f mg\n\r", 1000*az);
onehorse 0:2e5e65a6fb30 913
icyzkungz 6:fa132fd505ce 914 pc.printf("gx = %f", gx);
icyzkungz 6:fa132fd505ce 915 pc.printf(" gy = %f", gy);
icyzkungz 6:fa132fd505ce 916 pc.printf(" gz = %f deg/s\n\r", gz);
soulx 3:3e04c1c03cab 917
icyzkungz 6:fa132fd505ce 918 pc.printf("mx = %f", mx);
icyzkungz 6:fa132fd505ce 919 pc.printf(" my = %f", my);
icyzkungz 6:fa132fd505ce 920 pc.printf(" mz = %f mG\n\r", mz);*/
onehorse 0:2e5e65a6fb30 921
icyzkungz 6:fa132fd505ce 922 whoami = mpu9250.readByte(AK8963_ADDRESS, AK8963_ST2); // Read WHO_AM_I register for MPU-9250
icyzkungz 6:fa132fd505ce 923 // pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x10\n\r");
icyzkungz 6:fa132fd505ce 924 if(whoami == 0x14) {
icyzkungz 6:fa132fd505ce 925 pc.printf("I AM 0x%x\n\r", whoami);
icyzkungz 6:fa132fd505ce 926 while(1);
icyzkungz 6:fa132fd505ce 927 }
soulx 3:3e04c1c03cab 928
soulx 3:3e04c1c03cab 929
icyzkungz 6:fa132fd505ce 930 tempCount = mpu9250.readTempData(); // Read the adc values
icyzkungz 6:fa132fd505ce 931 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
icyzkungz 6:fa132fd505ce 932 //pc.printf(" temperature = %f C\n\r", temperature);
onehorse 0:2e5e65a6fb30 933
icyzkungz 6:fa132fd505ce 934 // pc.printf("q0 = %f\n\r", q[0]);
icyzkungz 6:fa132fd505ce 935 // pc.printf("q1 = %f\n\r", q[1]);
icyzkungz 6:fa132fd505ce 936 // pc.printf("q2 = %f\n\r", q[2]);
icyzkungz 6:fa132fd505ce 937 // pc.printf("q3 = %f\n\r", q[3]);
onehorse 0:2e5e65a6fb30 938
icyzkungz 6:fa132fd505ce 939 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
icyzkungz 6:fa132fd505ce 940 // In this coordinate system, the positive z-axis is down toward Earth.
icyzkungz 6:fa132fd505ce 941 // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
icyzkungz 6:fa132fd505ce 942 // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
icyzkungz 6:fa132fd505ce 943 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
icyzkungz 6:fa132fd505ce 944 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
icyzkungz 6:fa132fd505ce 945 // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
icyzkungz 6:fa132fd505ce 946 // applied in the correct order which for this configuration is yaw, pitch, and then roll.
icyzkungz 6:fa132fd505ce 947 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
icyzkungz 6:fa132fd505ce 948 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
icyzkungz 6:fa132fd505ce 949 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
icyzkungz 6:fa132fd505ce 950 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
soulx 3:3e04c1c03cab 951
icyzkungz 6:fa132fd505ce 952 float Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch);
icyzkungz 6:fa132fd505ce 953 float Yh = my*cos(roll)+mz*sin(roll);
soulx 3:3e04c1c03cab 954
icyzkungz 6:fa132fd505ce 955 float yawmag = atan2(Yh,Xh)+PI;
icyzkungz 6:fa132fd505ce 956 //pc.printf("Xh= %f Yh= %f ",Xh,Yh);
icyzkungz 6:fa132fd505ce 957 //pc.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI);
soulx 3:3e04c1c03cab 958
soulx 3:3e04c1c03cab 959
soulx 3:3e04c1c03cab 960
icyzkungz 6:fa132fd505ce 961 pitch *= 180.0f / PI;
icyzkungz 6:fa132fd505ce 962 yaw *= 180.0f / PI;
icyzkungz 6:fa132fd505ce 963 yaw += 180.0f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
icyzkungz 6:fa132fd505ce 964 roll *= 180.0f / PI;
icyzkungz 6:fa132fd505ce 965
icyzkungz 6:fa132fd505ce 966 pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
icyzkungz 6:fa132fd505ce 967 //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
icyzkungz 6:fa132fd505ce 968
icyzkungz 6:fa132fd505ce 969
icyzkungz 11:fceaaa7e120a 970 WheelChair();
soulx 3:3e04c1c03cab 971
soulx 3:3e04c1c03cab 972
icyzkungz 6:fa132fd505ce 973 myled= !myled;
icyzkungz 6:fa132fd505ce 974 count = t.read_ms();
onehorse 0:2e5e65a6fb30 975
icyzkungz 6:fa132fd505ce 976 if(count > 1<<21) {
icyzkungz 6:fa132fd505ce 977 t.start(); // start the timer over again if ~30 minutes has passed
icyzkungz 6:fa132fd505ce 978 count = 0;
icyzkungz 6:fa132fd505ce 979 deltat= 0;
icyzkungz 6:fa132fd505ce 980 lastUpdate = t.read_us();
icyzkungz 6:fa132fd505ce 981 }
icyzkungz 6:fa132fd505ce 982 sum = 0;
icyzkungz 6:fa132fd505ce 983 sumCount = 0;
soulx 3:3e04c1c03cab 984 }
soulx 3:3e04c1c03cab 985 }
onehorse 0:2e5e65a6fb30 986 }
onehorse 0:2e5e65a6fb30 987 }