Stabilizer
Dependencies: BEAR_Protocol mbed Stabilizer iSerial
Fork of MPU9250AHRS by
Revision 21:298aa522db64, committed 2016-02-03
- Comitter:
- soulx
- Date:
- Wed Feb 03 16:23:11 2016 +0000
- Parent:
- 15:10939fd0eaac
- Parent:
- 20:1d4db25afe2b
- Commit message:
- renew
Changed in this revision
diff -r 10939fd0eaac -r 298aa522db64 BEAR_Protocol.lib --- a/BEAR_Protocol.lib Thu Dec 24 13:49:20 2015 +0000 +++ b/BEAR_Protocol.lib Wed Feb 03 16:23:11 2016 +0000 @@ -1,1 +1,1 @@ -http://developer.mbed.org/teams/BEaR-lab/code/BEAR_Protocol/#cad240b32dd6 +http://developer.mbed.org/teams/BEaR-lab/code/BEAR_Protocol/#45286c47ca0d
diff -r 10939fd0eaac -r 298aa522db64 BEAR_Protocol.lib.orig --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BEAR_Protocol.lib.orig Wed Feb 03 16:23:11 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/BEaR-lab/code/BEAR_Protocol/#cad240b32dd6
diff -r 10939fd0eaac -r 298aa522db64 Stabilizer.lib --- a/Stabilizer.lib Thu Dec 24 13:49:20 2015 +0000 +++ b/Stabilizer.lib Wed Feb 03 16:23:11 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/BEaR-lab/code/Stabilizer/#9b9ae6e99d53 +https://developer.mbed.org/teams/BEaR-lab/code/Stabilizer/#0ced46e2059e \ No newline at end of file
diff -r 10939fd0eaac -r 298aa522db64 Stabilizer.lib.orig --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Stabilizer.lib.orig Wed Feb 03 16:23:11 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/BEaR-lab/code/Stabilizer/#9b9ae6e99d53
diff -r 10939fd0eaac -r 298aa522db64 SwMode.h
diff -r 10939fd0eaac -r 298aa522db64 iSerial.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/iSerial.lib Wed Feb 03 16:23:11 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/BEaR-lab/code/iSerial/#1188a5024611
diff -r 10939fd0eaac -r 298aa522db64 main.cpp --- a/main.cpp Thu Dec 24 13:49:20 2015 +0000 +++ b/main.cpp Wed Feb 03 16:23:11 2016 +0000 @@ -1,23 +1,35 @@ -#include "BEAR_Protocol.h" + #include "Stabilizer.h" #include "Kinematic.h" #include "MPU9250.h" -#include "param.h" +#include "BEAR_Protocol.h" void Init_IMU(); void Init_Stabilizer(); +void WheelChair(); +#define LEFT_SIDE 0x01 +#define RIGHT_SIDE 0x02 + +#define TIME_SYNC_COMMUNICATION 5 //unit ms + float sum = 0; uint32_t sumCount = 0; char buffer[14]; -//init class + +//init class + MPU9250 mpu9250; Stabilizer Stabilize(5.0f,0.0f); -Kinematic L('Z',10,10,30,30),R('Z',10,10,30,30); +//Kinematic L('Z',10,10,30,30),R('Z',10,10,30,30); +Kinematic Left(0,0),Right(0,0); +Bear_Communicate bcom(PA_15,PB_7,1000000); + +Timer sync_communicate; Timer t; @@ -44,49 +56,746 @@ //InterruptIn event(PC_13); DigitalIn enable(PC_13); -//DigitalIn button(USER_BUTTON); +DigitalIn button(USER_BUTTON); + +int16_t show_menu() +{ + int16_t option=9999; + float temp[6]; + pc.printf("************Don't Forget to Save Data************\n"); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getMotorPos(LEFT_SIDE,&temp[0],&temp[1]); + pc.printf("*\t1) Motor Left Hip [%f]\t\t*\n",temp[0]); + pc.printf("*\t2) Motor Left Knee [%f]\t\t*\n",temp[1]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getMotorPos(RIGHT_SIDE,&temp[0],&temp[1]); + pc.printf("*\t3) Motor Right Hip [%f]\t\t*\n",temp[0]); + pc.printf("*\t4) Motor Right Knee [%f]\t\t*\n",temp[1]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getUpMotorKpKiKd(LEFT_SIDE,&temp[0],&temp[1],&temp[2]); + pc.printf("*\t5) Kp : Left Hip [%f]\t\t*\n",temp[0]); + pc.printf("*\t6) Ki : Left Hip [%f]\t\t*\n",temp[1]); + pc.printf("*\t7) Kd : Left Hip [%f]\t\t*\n",temp[2]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getLowMotorKpKiKd(LEFT_SIDE,&temp[0],&temp[1],&temp[2]); + pc.printf("*\t8) Kp : Left Knee [%f]\t\t*\n",temp[0]); + pc.printf("*\t9) Ki : Left Knee [%f]\t\t*\n",temp[1]); + pc.printf("*\t10) Kd : Left Knee [%f]\t\t*\n",temp[2]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getUpMotorKpKiKd(RIGHT_SIDE,&temp[0],&temp[1],&temp[2]); + pc.printf("*\t11) Kp : Right Hip [%f]\t\t*\n",temp[0]); + pc.printf("*\t12) Ki : Right Hip [%f]\t\t*\n",temp[1]); + pc.printf("*\t13) Kd : Right Hip [%f]\t\t*\n",temp[2]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getLowMotorKpKiKd(RIGHT_SIDE,&temp[0],&temp[1],&temp[2]); + pc.printf("*\t14) Kp : Right Knee [%f]\t\t*\n",temp[0]); + pc.printf("*\t15) Ki : Right Knee [%f]\t\t*\n",temp[1]); + pc.printf("*\t16) Kd : Right Knee [%f]\t\t*\n",temp[2]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getUpMargin(LEFT_SIDE,&temp[0]); + pc.printf("*\t17) Set Left Hip Margin [%f]\n",temp[0]); + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getLowMargin(LEFT_SIDE,&temp[0]); + pc.printf("*\t18) Set Left Knee Margin [%f]\n",temp[0]); + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getUpMargin(RIGHT_SIDE,&temp[0]); + pc.printf("*\t19) Set Right Hip Margin [%f]\n",temp[0]); + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getLowMargin(RIGHT_SIDE,&temp[0]); + pc.printf("*\t20) Set Right Knee Margin [%f]\n",temp[0]); + + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getUpLinkLength(LEFT_SIDE,&temp[0]); + pc.printf("*\t21) Set Lenght of Left Link Hip [%f]\n",temp[0]); + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getLowLinkLength(LEFT_SIDE,&temp[0]); + pc.printf("*\t22) Set Lenght of Left Link Knee [%f]\n",temp[0]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getUpLinkLength(RIGHT_SIDE,&temp[0]); + pc.printf("*\t23) Set Lenght of Right Link Hip [%f]\n",temp[0]); + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getLowLinkLength(RIGHT_SIDE,&temp[0]); + pc.printf("*\t24) Set Lenght of Right Link Knee [%f]\n",temp[0]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getOffset(LEFT_SIDE,&temp[0],&temp[1]); + pc.printf("*\t25) Set Offset x[%f] y[%f]\n",temp[0],temp[1]); + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getBodyWidth(LEFT_SIDE,&temp[0]); + pc.printf("*\t26) Set Body Width [%f]\n",temp[0]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getUpAngleRange(LEFT_SIDE,&temp[0],&temp[1]); + bcom.getUpAngleRange(RIGHT_SIDE,&temp[2],&temp[3]); + pc.printf("*\t27) Set Maximum Hip Angle Range \n"); + pc.printf("\tLeft Maximum Hip Angle Range [%f]\n",temp[0]); + pc.printf("\tRight Maximum Hip Angle Range [%f]\n\n",temp[2]); + + pc.printf("*\t28) Set Minimum Hip Angle Range \n"); + pc.printf("\tLeft Minimum Hip Angle Range [%f]\n",temp[1]); + pc.printf("\tRight Minimum Hip Angle Range [%f]\n\n",temp[3]); + + while(sync_communicate.read_ms() < TIME_SYNC_COMMUNICATION); + sync_communicate.reset(); + bcom.getLowAngleRange(LEFT_SIDE,&temp[0],&temp[1]); + bcom.getLowAngleRange(RIGHT_SIDE,&temp[2],&temp[3]); + pc.printf("*\t29) Set Maximum Knee Angle Range \n"); + pc.printf("\tLeft Maximum Knee Angle Range [%f]\n",temp[0]); + pc.printf("\tRight Maximum Knee Angle Range [%f]\n\n",temp[2]); + + pc.printf("*\t30) Set Minimum Knee Angle Range \n"); + pc.printf("\tLeft Minimum Knee Angle Range [%f]\n",temp[1]); + pc.printf("\tRight Minimum Knee Angle Range [%f]\n\n",temp[3]); + + pc.printf("*\t40) Exit Program \t\t\t*\n"); + pc.printf("************Don't Forget to Save Data************\n"); + // Prompting user to enter an option according to menu + pc.printf("Please select an option : "); + + + pc.scanf("%d",&option); + if(sync_communicate.read_ms() >0x7FFFFF00) { + sync_communicate.reset(); + } + pc.printf("\n"); + + + + return option; +} + +void SwMode() +{ + int option; + float temp; + float LH,LK,RH,RK; + //float LLink[2],RLink[2]; + float LLink0=21.5,LLink1=27.0,RLink0=22.5,RLink1=27.0; + struct max_ang { + float Hip; + float Knee; + }; + struct min_ang { + float Hip; + float Knee; + }; + max_ang Lmax,Lmin; + min_ang Rmax,Rmin; + Lmax.Knee = Lmax.Hip = Lmin.Knee = Lmin.Hip = Rmax.Knee = Rmax.Hip = Rmin.Knee = Rmin.Hip = 0; + bool a,b,c,d; + a = b = c = d = false; + + + float temp_LH=0,temp_LK=0,temp_RH=0,temp_RK=0; + + bcom.getMotorPos(LEFT_SIDE,&temp_LH,&temp_LK); + bcom.getMotorPos(RIGHT_SIDE,&temp_RH,&temp_RK); + + do { + //float buff; + + option = show_menu(); + + + if(option == 1)// Left Hip + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + //Send Position to Motor + pc.printf("Input Degree : \n"); + pc.scanf("%f",&temp); + if(temp!=9999) { + LH = temp; + pc.printf("Move Left Hip Motor to %f Degree\n",LH); + + bcom.setMotorPos(LEFT_SIDE,LH,temp_LK); + temp_LH = LH; + + /********************Save Data*********************/ + } //else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_UPPER_ANG); + + } while(temp != 9999); + + else if(option == 2) //Left Knee + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + + //Send Position to Motor + pc.printf("Input Degree : \n"); + pc.scanf("%f",&temp); + if(temp!=9999) { + LK = temp; + pc.printf("Move Left Knee Motor to %f Degree\n",LK); + + bcom.setMotorPos(LEFT_SIDE,temp_LH,LK); + temp_LK = LK; + + + /********************Save Data*********************/ + } //else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_LOWER_ANG); + + } while(temp != 9999); + + + else if(option == 3) { //Right Hip + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + + //Send Position to Motor + pc.printf("Input Degree : \n"); + pc.scanf("%f",&temp); + if(temp!=9999) { + RH = temp; + pc.printf("Move Right Hip Motor to %f Degree\n",RH); + + bcom.setMotorPos(RIGHT_SIDE,RH,temp_RK); + temp_RH = RH; + + + /********************Save Data*********************/ + } //else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_UPPER_ANG); + + } while(temp != 9999); + + } else if(option == 4) { //Right Knee + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + + //Send Position to Motor + pc.printf("Input Degree : \n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + RK = temp; + pc.printf("Move Right Knee Motor to %f Degree\n",RK); + + bcom.setMotorPos(RIGHT_SIDE,temp_RH,RK); + temp_RK = RK; + + + /********************Save Data*********************/ + } //else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_LOWER_ANG); + + } while(temp != 9999); + + } else if(option == 5) { //Left Hip + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Kp of Left Hip\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Kp of Left Hip to %f",temp); + + bcom.setUpMotorKp(LEFT_SIDE,temp); + } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_UPPER_MOTOR); + + } while(temp != 9999); + + } else if(option == 6) { //Left Hip + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Ki of Left Hip\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Ki of Left Hip to %f",temp); + + bcom.setUpMotorKi(LEFT_SIDE,temp); + } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_UPPER_MOTOR); + + } while(temp != 9999); + + } else if(option == 7) { //Left Hip + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Kd of Left Hip\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Kd of Left Hip to %f",temp); + + bcom.setUpMotorKd(LEFT_SIDE,temp); + } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_UPPER_MOTOR); + + } while(temp != 9999); + + } else if(option == 8) { //Left Knee + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Kp of Left Knee\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Kp of Left Knee to %f",temp); + + bcom.setLowMotorKp(LEFT_SIDE,temp); + } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_LOWER_MOTOR); + + } while(temp != 9999); + + } else if(option == 9) { //Left Knee + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Ki of Left Knee\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Ki of Left Knee to %f",temp); + + bcom.setLowMotorKi(LEFT_SIDE,temp); + } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_LOWER_MOTOR); + + } while(temp != 9999); + + } else if(option == 10) { //Left Knee + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Kd of Left Knee\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Kd of Left Knee to %f",temp); + + bcom.setLowMotorKd(LEFT_SIDE,temp); + } else bcom.saveDataToEEPROM(LEFT_SIDE,PID_LOWER_MOTOR); + + } while(temp != 9999); + + + } else if(option == 11) { //Right Hip + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Kp of Right Hip\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Kp of Right Hip to %f",temp); + + bcom.setUpMotorKp(RIGHT_SIDE,temp); + } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_UPPER_MOTOR); + + } while(temp != 9999); + + } else if(option == 12) { //Right Hip + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Ki of Right Hip\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Ki of Right Hip to %f",temp); + + bcom.setUpMotorKi(RIGHT_SIDE,temp); + } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_UPPER_MOTOR); + + } while(temp != 9999); -void UI() -{ + } else if(option == 13) { //Right Hip + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Kd of Right Hip\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Kd of Right Hip to %f",temp); + + bcom.setUpMotorKd(RIGHT_SIDE,temp); + } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_UPPER_MOTOR); + + } while(temp != 9999); + + + } else if(option == 14) { //Right Knee + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Kp of Right Knee\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Kp of Right Knee to %f",temp); + + bcom.setLowMotorKp(RIGHT_SIDE,temp); + } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_LOWER_MOTOR); + + } while(temp != 9999); + + } else if(option == 15) { //Right Knee + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Ki of Right Knee\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Ki of Right Knee to %f Degree\n",temp); + + bcom.setLowMotorKi(RIGHT_SIDE,temp); + } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_LOWER_MOTOR); + + } while(temp != 9999); + + } else if(option == 16) { //Right Knee + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("\nInput Kd of Right Knee\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Kd of Right Knee to %f",temp); + + bcom.setLowMotorKd(RIGHT_SIDE,temp); + } else bcom.saveDataToEEPROM(RIGHT_SIDE,PID_LOWER_MOTOR); + + } while(temp != 9999); + + + } else if(option == 17) { //Left Hip Margin + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("Input Margin\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Left Hip Margin to %f\n",temp); + bcom.setUpMargin(LEFT_SIDE,temp); + } //else + bcom.saveDataToEEPROM(LEFT_SIDE,UP_MARGIN); + } + + else if(option == 18) { //Left Knee Margin + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("Input Margin\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Left Knee Margin to %f\n",temp); + bcom.setLowMargin(LEFT_SIDE,temp); + } //else + bcom.saveDataToEEPROM(LEFT_SIDE,LOW_MARGIN); + } + + else if(option == 19) { //Right Hip Margin + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("Input Margin\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Right Hip Margin to %f\n",temp); + bcom.setUpMargin(RIGHT_SIDE,temp); + } //else + bcom.saveDataToEEPROM(RIGHT_SIDE,UP_MARGIN); + } + + else if(option == 20) { //Right Knee Margin + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("Input Margin\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nChange Right Knee Margin to %f\n",temp); + bcom.setLowMargin(RIGHT_SIDE,temp); + } //else + bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_MARGIN); + } + + else if(option == 21) { //Lenght of Left Link Hip + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("Input Lenght of Left Link Hip\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nLenght of Left Link Hip = %f\n",temp); + LLink0 = temp; + a = true; + bcom.setUpLinkLength(LEFT_SIDE,temp); + } //else + bcom.saveDataToEEPROM(LEFT_SIDE,UP_LINK_LENGTH); + } + + else if(option == 22) { //Lenght of Left Link Knee + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("Input Lenght of Left Link Knee\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nLenght of Left Link Knee = %f\n",temp); + LLink1 = temp; + b = true; + bcom.setLowLinkLength(LEFT_SIDE,temp); + } //else + bcom.saveDataToEEPROM(LEFT_SIDE,LOW_LINK_LENGTH); + } + + else if(option == 23) { //Lenght of Right Link Hip + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("Input Lenght of Right Link Hip\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nLenght of Right Link Hip = %f\n",temp); + RLink0 = temp; + c = true; + bcom.setUpLinkLength(RIGHT_SIDE,temp); + } //else + bcom.saveDataToEEPROM(RIGHT_SIDE,UP_LINK_LENGTH); + } + + else if(option == 24) { //Lenght of Right Link Knee + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("Input Lenght of Right Link Knee\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nLenght of Right Link Knee = %f\n",temp); + RLink1 = temp; + d = true; + bcom.setLowLinkLength(RIGHT_SIDE,temp); + } //else + bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_LINK_LENGTH); + } + + else if(option == 25) { //Offset + if(a == true && b == true && c == true && d == true) { + float LHipAngle,LKneeAngle; + float RHipAngle,RKneeAngle; + + bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle); + wait_ms(90); + bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle); + wait_ms(90); + + Left.set_Link_Hip(LLink0); + Left.set_Link_Knee(LLink1); + Left.set_Zeta_Hip(LHipAngle); + Left.set_Zeta_Knee(LKneeAngle); + + Right.set_Link_Hip(RLink0); + Right.set_Link_Knee(RLink1); + Right.set_Zeta_Hip(RHipAngle); + Right.set_Zeta_Knee(RKneeAngle); + + Left.ForwardKinematicCalculation(); + Right.ForwardKinematicCalculation(); + + float offset_Y,offset_Z; + float y1,y2,z1,z2; + y1 = Left.get_Position_Y(); + y2 = Right.get_Position_Y(); + z1 = Left.get_Position_Z(); + z2 = Right.get_Position_Z(); + offset_Y = y1-y2; + offset_Z = z1-z2; + + bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z); + + bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET); + + } else { + pc.printf("\nYou have to do choice 21-23 first\n\n"); + wait(1); + } + } + + else if(option == 26) { //setBodyWidth + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("Input Body Width\n"); + pc.scanf("%f",&temp); + pc.printf("\nBody Lenght = %f\n",temp); + bcom.setBodyWidth(LEFT_SIDE,temp); + bcom.saveDataToEEPROM(LEFT_SIDE,BODY_WIDTH); + } + + else if(option == 27) { //Set Maximum Hip Angle Range + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("1) Left Side\n"); + pc.printf("2) Right Side\n"); + pc.scanf("%f",&temp); + + if(temp==1) { //Left + pc.printf("Input Maximum Hip Angle Range of Left Side\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nMaximum Hip Angle Range of Left Side = %f\n",temp); + bcom.setUpAngleRange(LEFT_SIDE,temp,Lmin.Hip); + Lmax.Hip = temp; + } //else + bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP); + + } else if(temp==2) { //Right + pc.printf("Input Maximum Hip Angle Range of Right Side\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nMaximum Hip Angle Range of Right Side = %f\n",temp); + bcom.setUpAngleRange(RIGHT_SIDE,temp,Rmin.Hip); + Rmax.Hip = temp; + } //else + bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP); + } + } while(temp!=9999); + } + + else if(option == 28) { //Set Minumum Hip Angle Range + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("1) Left Side\n"); + pc.printf("2) Right Side\n"); + pc.scanf("%f",&temp); + + if(temp==1) { //Left + pc.printf("Input Minumum Hip Angle Range of Left Side\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nMinumum Hip Angle Range of Left Side = %f\n",temp); + bcom.setUpAngleRange(LEFT_SIDE,Lmax.Hip,temp); + Lmin.Hip = temp; + } //else + bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP); + + } else if(temp==2) { //Right + pc.printf("Input Minumum Hip Angle Range of Right Side\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nMinumum Hip Angle Range of Right Side = %f\n",temp); + bcom.setUpAngleRange(RIGHT_SIDE,Rmax.Hip,temp); + Rmin.Hip = temp; + } //else + bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP); + } + } while(temp!=9999); + } + + + else if(option == 29) { //Set Maximum Knee Angle Range + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("1) Left Side\n"); + pc.printf("2) Right Side\n"); + pc.scanf("%f",&temp); + + if(temp==1) { //Left + pc.printf("Input Maximum Knee Angle Range of Left Side\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nMaximum Knee Angle Range of Left Side = %f\n",temp); + bcom.setLowAngleRange(LEFT_SIDE,temp,Lmin.Knee); + Lmax.Knee = temp; + } //else + bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW); + + } else if(temp==2) { //Right + pc.printf("Input Maximum Knee Angle Range of Right Side\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nMaximum Knee Angle Range of Right Side = %f\n",temp); + bcom.setLowAngleRange(RIGHT_SIDE,temp,Rmin.Knee); + Rmax.Knee = temp; + } //else + bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW); + } + } while(temp!=9999); + } + + else if(option == 30) { //Set Minumum Knee Angle Range + do { + pc.printf("\nType 9999 to Exit to Main Menu\n"); + pc.printf("1) Left Side\n"); + pc.printf("2) Right Side\n"); + pc.scanf("%f",&temp); + + if(temp==1) { //Left + pc.printf("Input Minumum Knee Angle Range of Left Side\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nMinumum Knee Angle Range of Left Side = %f\n",temp); + bcom.setLowAngleRange(LEFT_SIDE,Lmax.Knee,temp); + Lmin.Knee = temp; + } //else + bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW); + + } else if(temp==2) { //Right + pc.printf("Input Minumum Knee Angle Range of Right Side\n"); + pc.scanf("%f",&temp); + + if(temp != 9999) { + pc.printf("\nMinumum Knee Angle Range of Right Side = %f\n",temp); + bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Knee,temp); + Rmin.Knee = temp; + } //else + bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW); + } + } while(temp!=9999); + } + + + + + + + else if(option == 40) { + pc.printf("Are You Sure ?\n"); + pc.printf("\n1) Yes\n"); + pc.printf("2) No\n"); + + pc.scanf("%d",&option); + if(option==1) { + option = 40; + pc.printf("Please Push Button Restart\n"); + } else pc.printf("Return to Main Menu\n"); + + } + + + else { // if user has entered invalid choice + pc.printf("\nInvalid Option entered\n"); + } + } while(option != 40); } -void WheelChair() -{ - //Start Here - //Stabilize.set_Body_Lenght(5); - Stabilize.set_current_zeta(roll); - //Stabilize.set_zeta_set(0); - //Stabilize.ZetaErrorCalculation(); - Stabilize.PID(); - Stabilize.set_New_Height(L.get_Position_Z()); - - //pc.printf("Height : %f, delta : %f, New Height : %f\n",L.get_Position_Z(),Stabilize.get_delta_h(),Stabilize.get_New_Height()); - L.print(); - L.set_Position_Z(Stabilize.get_New_Height()); - L.InverseKinematicCalculation(); - L.print(); - - R.set_Position_Y(L.get_Position_Y()+Stabilize.get_Offset_Y()); - R.set_Position_Z(L.get_Position_Z()+Stabilize.get_Offset_Z()); - //R.set_offset_YZ(3,3); - //R.SumPositionWithOffset(); - R.InverseKinematicCalculation(); - R.print(); - pc.printf("\n"); - - //Send Position of L&R Angle to Motion Board - - - - //End Here -} int main() { pc.baud(115200); - + sync_communicate.start(); + + if(!button) { //Set up mode + while(!button); + pc.printf("Switch Mode\n"); + SwMode(); + } /*while(1){ Kinematic test('P',10,15,10,10); @@ -265,7 +974,7 @@ void Init_IMU() { - + //Set up I2C i2c.frequency(400000); // use fast (400 kHz) I2C @@ -415,8 +1124,40 @@ void Init_Stabilizer() { - - - - - } \ No newline at end of file + + + + +} + +void WheelChair() +{ + //Start Here + //Stabilize.set_Body_Lenght(5); + Stabilize.set_current_zeta(roll); + //Stabilize.set_zeta_set(0); + //Stabilize.ZetaErrorCalculation(); + Stabilize.PID(); + + Stabilize.set_New_Height(Left.get_Position_Z()); + + //pc.printf("Height : %f, delta : %f, New Height : %f\n",L.get_Position_Z(),Stabilize.get_delta_h(),Stabilize.get_New_Height()); + Left.print(); + Left.set_Position_Z(Stabilize.get_New_Height()); + Left.InverseKinematicCalculation(); + Left.print(); + + Right.set_Position_Y(Left.get_Position_Y()+Stabilize.get_Offset_Y()); + Right.set_Position_Z(Left.get_Position_Z()+Stabilize.get_Offset_Z()); + //R.set_offset_YZ(3,3); + //R.SumPositionWithOffset(); + Right.InverseKinematicCalculation(); + Right.print(); + pc.printf("\n"); + + //Send Position of L&R Angle to Motion Board + + + + //End Here +}
diff -r 10939fd0eaac -r 298aa522db64 main.cpp.orig --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp.orig Wed Feb 03 16:23:11 2016 +0000 @@ -0,0 +1,422 @@ +#include "BEAR_Protocol.h" +#include "Stabilizer.h" +#include "Kinematic.h" +#include "MPU9250.h" + +#include "param.h" + +void Init_IMU(); +void Init_Stabilizer(); + + +float sum = 0; +uint32_t sumCount = 0; +char buffer[14]; + + +//init class +MPU9250 mpu9250; +Stabilizer Stabilize(5.0f,0.0f); +Kinematic L('Z',10,10,30,30),R('Z',10,10,30,30); + + +Timer t; + +Serial pc(USBTX, USBRX); // tx, rx + +Bear_Communicate bear(PA_15,PB_7,115200); + + + +float xmax = -4914.0f; +float xmin = 4914.0f; + +float ymax = -4914.0; +float ymin = 4914.0f; + +float zmax = -4914.0; +float zmin = 4914.0f; + +float Xsf,Ysf; +float Xoff,Yoff; + + +//InterruptIn event(PC_13); +DigitalIn enable(PC_13); + +//DigitalIn button(USER_BUTTON); + +void UI() +{ + +} + +void WheelChair() +{ + //Start Here + //Stabilize.set_Body_Lenght(5); + Stabilize.set_current_zeta(roll); + //Stabilize.set_zeta_set(0); + //Stabilize.ZetaErrorCalculation(); + Stabilize.PID(); + + Stabilize.set_New_Height(L.get_Position_Z()); + + //pc.printf("Height : %f, delta : %f, New Height : %f\n",L.get_Position_Z(),Stabilize.get_delta_h(),Stabilize.get_New_Height()); + L.print(); + L.set_Position_Z(Stabilize.get_New_Height()); + L.InverseKinematicCalculation(); + L.print(); + + R.set_Position_Y(L.get_Position_Y()+Stabilize.get_Offset_Y()); + R.set_Position_Z(L.get_Position_Z()+Stabilize.get_Offset_Z()); + //R.set_offset_YZ(3,3); + //R.SumPositionWithOffset(); + R.InverseKinematicCalculation(); + R.print(); + pc.printf("\n"); + + //Send Position of L&R Angle to Motion Board + + + + //End Here +} + +int main() +{ + pc.baud(115200); + + + /*while(1){ + Kinematic test('P',10,15,10,10); + 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()); + pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee()); + test.set_Link_Hip(25); + test.set_Link_Knee(30); + test.set_Position_Y(35); + test.set_Position_Z(40); + test.set_Zeta_Hip(45); + test.set_Zeta_Knee(50); + 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()); + pc.printf("Zeta Hip : %f, Zeta Knee : %f\n",test.get_Zeta_Hip(),test.get_Zeta_Knee()); + + while(1); + }*/ + + Init_IMU(); + + float temp_time; + + while(1) { + temp_time = t.read(); + // If intPin goes high, all data registers have new data + if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt + + mpu9250.readAccelData(accelCount); // Read the x/y/z adc values + // Now we'll calculate the accleration value into actual g's + ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set + ay = (float)accelCount[1]*aRes - accelBias[1]; + az = (float)accelCount[2]*aRes - accelBias[2]; + + mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values + // Calculate the gyro value into actual degrees per second + gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set + gy = (float)gyroCount[1]*gRes - gyroBias[1]; + gz = (float)gyroCount[2]*gRes - gyroBias[2]; + + mpu9250.readMagData(magCount); // Read the x/y/z adc values + // Calculate the magnetometer values in milliGauss + // Include factory calibration per data sheet and user environmental corrections + /* if(magCount[0]<xmin) + xmin = magCount[0]; + if(magCount[0]>xmax) + xmax = magCount[0]; + + if(magCount[1]<ymin) + ymin = magCount[1]; + if(magCount[1]>ymax) + ymax = magCount[1]; + + if(magCount[2]<zmin) + zmin = magCount[2]; + if(mz>zmax) + zmax = mz; + wait_ms(1); + */ + // pc.printf("FINISH scan\r\n\r\n"); + +// mx = (float)magCount[0]*mRes*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set +// my = (float)magCount[1]*mRes*magCalibration[1] + magbias[1]; +// mz = (float)magCount[2]*mRes*magCalibration[2] + magbias[2]; + + mx = ((float)magCount[0]-xmin)*magCalibration[0] + magbias[0]; // get actual magnetometer value, this depends on scale being set + my = ((float)magCount[1]-ymin)*magCalibration[1] + magbias[1]; + mz = ((float)magCount[2]-zmin)*magCalibration[2] + magbias[2]; + + // mx = (float)magCount[0]*1.499389499f - magbias[0]; // get actual magnetometer value, this depends on scale being set + // my = (float)magCount[1]*1.499389499f - magbias[1]; + // mz = (float)magCount[2]*1.499389499f - magbias[2]; + + + + + } + + Now = t.read_us(); + deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update + lastUpdate = Now; + + sum += deltat; + sumCount++; + +// if(lastUpdate - firstUpdate > 10000000.0f) { +// beta = 0.04; // decrease filter gain after stabilized +// zeta = 0.015; // increasey bias drift gain after stabilized +// } + + // Pass gyro rate as rad/s + //mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); + mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); + + // Serial print and/or display at 0.5 s rate independent of data rates + delt_t = t.read_ms() - count; + if(temp_time > 8) { + if (delt_t > 500) { // update LCD once per half-second independent of read rate + + /*pc.printf("ax = %f", 1000*ax); + pc.printf(" ay = %f", 1000*ay); + pc.printf(" az = %f mg\n\r", 1000*az); + + pc.printf("gx = %f", gx); + pc.printf(" gy = %f", gy); + pc.printf(" gz = %f deg/s\n\r", gz); + + pc.printf("mx = %f", mx); + pc.printf(" my = %f", my); + pc.printf(" mz = %f mG\n\r", mz);*/ + + uint8_t whoami = mpu9250.readByte(AK8963_ADDRESS, AK8963_ST2); // Read WHO_AM_I register for MPU-9250 + // pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x10\n\r"); + if(whoami == 0x14) { + pc.printf("I AM 0x%x\n\r", whoami); + while(1); + } + + + tempCount = mpu9250.readTempData(); // Read the adc values + temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade + //pc.printf(" temperature = %f C\n\r", temperature); + + // pc.printf("q0 = %f\n\r", q[0]); + // pc.printf("q1 = %f\n\r", q[1]); + // pc.printf("q2 = %f\n\r", q[2]); + // pc.printf("q3 = %f\n\r", q[3]); + + // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. + // In this coordinate system, the positive z-axis is down toward Earth. + // 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. + // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. + // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. + // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. + // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be + // applied in the correct order which for this configuration is yaw, pitch, and then roll. + // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. + 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]); + pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); + 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]); + + float Xh = mx*cos(pitch)+my*sin(roll)*sin(pitch)-mz*cos(roll)*sin(pitch); + float Yh = my*cos(roll)+mz*sin(roll); + + float yawmag = atan2(Yh,Xh)+PI; + //pc.printf("Xh= %f Yh= %f ",Xh,Yh); + //pc.printf("Yaw[mag]= %f\n\r",yawmag*180.0f/PI); + + + + pitch *= 180.0f / PI; + yaw *= 180.0f / PI; + yaw += 180.0f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 + roll *= 180.0f / PI; + + pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); + //pc.printf("average rate = %f\n\r", (float) sumCount/sum); + + + WheelChair(); + + + myled= !myled; + count = t.read_ms(); + + if(count > 1<<21) { + t.start(); // start the timer over again if ~30 minutes has passed + count = 0; + deltat= 0; + lastUpdate = t.read_us(); + } + sum = 0; + sumCount = 0; + } + } + } +} + +void Init_IMU() +{ + + //Set up I2C + i2c.frequency(400000); // use fast (400 kHz) I2C + + pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); + + t.start(); + + //mpu9250.resetMPU9250(); + // Read the WHO_AM_I register, this is a good test of communication + uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 + pc.printf("I AM 0x%x\n\r", whoami); + pc.printf("I SHOULD BE 0x71\n\r"); + + if (whoami == 0x71) { // WHO_AM_I should always be 0x68 + pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami); + pc.printf("MPU9250 is online...\n\r"); + sprintf(buffer, "0x%x", whoami); + wait(1); + + mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration + mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values + pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]); + pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]); + pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]); + pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]); + pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]); + pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]); + mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers + pc.printf("x gyro bias = %f\n\r", gyroBias[0]); + pc.printf("y gyro bias = %f\n\r", gyroBias[1]); + pc.printf("z gyro bias = %f\n\r", gyroBias[2]); + pc.printf("x accel bias = %f\n\r", accelBias[0]); + pc.printf("y accel bias = %f\n\r", accelBias[1]); + pc.printf("z accel bias = %f\n\r", accelBias[2]); + wait(2); + mpu9250.initMPU9250(); + pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature + mpu9250.initAK8963(magCalibration); + pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer + + whoami = mpu9250.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963); // Read WHO_AM_I register for MPU-9250 + pc.printf("I AM 0x%x\n\r", whoami); + pc.printf("I SHOULD BE 0x48\n\r"); + if(whoami != 0x48) { + while(1); + } + pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale)); + pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale)); + if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r"); + if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r"); + if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r"); + if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r"); + wait(1); + } else { + pc.printf("Could not connect to MPU9250: \n\r"); + pc.printf("%#x \n", whoami); + + sprintf(buffer, "WHO_AM_I 0x%x", whoami); + + while(1) ; // Loop forever if communication doesn't happen + } + + mpu9250.getAres(); // Get accelerometer sensitivity + mpu9250.getGres(); // Get gyro sensitivity + mpu9250.getMres(); // Get magnetometer sensitivity + pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes); + pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes); + pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes); + + /*pc.printf("START scan mag\n\r\n\r\n\r"); + //wait(1); + for(int i=0; i<4000; i++) { + mpu9250.readMagData(magCount); + + if(magCount[0]<xmin) + xmin = magCount[0]; + if(magCount[0]>xmax) + xmax = magCount[0]; + + if(magCount[1]<ymin) + ymin = magCount[1]; + if(magCount[1]>ymax) + ymax = magCount[1]; + + if(magCount[2]<zmin) + zmin = magCount[2]; + if(magCount[2]>zmax) + zmax = magCount[2]; + + + wait_ms(10); + } + pc.printf("FINISH scan\r\n\r\n"); + pc.printf("Mx Max= %f Min= %f\n\r",xmax,xmin); + pc.printf("My Max= %f Min= %f\n\r",ymax,ymin); + pc.printf("Mz Max= %f Min= %f\n\r",zmax,zmin);*/ + + /*xmax = 188.000000; + xmin = -316.000000; + ymax = 485.000000; + ymin = -26.000000; + zmax = 165.000000; + xmin = -230.000000; + + //Ice room + xmax = 101.000000; + xmin = -296.000000; + ymax = 320.000000; + ymin = -85.000000; + zmax = 208.000000; + xmin = -202.000000; + + xmax = 115.000000; + xmin = -309.000000; + ymax = 350.000000; + ymin = -119.000000; + zmax = 235.000000; + zmin = -224.000000;*/ + + xmax = 120.000000; + xmin = -306.000000; + ymax = 340.000000; + ymin = -90.000000; + zmax = 219.000000; + zmin = -195.000000; + + + + magbias[0] = -1.0; + magbias[1] = -1.0; + magbias[2] = -1.0; + + magCalibration[0] = 2.0f / (xmax -xmin); + magCalibration[1] = 2.0f / (ymax -ymin); + magCalibration[2] = 2.0f / (zmax -zmin); + + //magbias[0] = (xmin-xmax)/2.0f; // User environmental x-axis correction in milliGauss, should be automatically calculated + //magbias[1] = (ymin-ymax)/2.0f; // User environmental x-axis correction in milliGauss + //magbias[2] = (zmin-zmax)/2.0f; // User environmental x-axis correction in milliGauss + pc.printf("mag[0] %f",magbias[0]); + pc.printf("mag[1] %f",magbias[1]); + pc.printf("mag[2] %f\n\r",magbias[2]); + // resalt = atan(magY+((yMin-yMax)/2),magX+(xMin-xMax)/2))*180/PI; + +} + + +void Init_Stabilizer() +{ + + + + + } \ No newline at end of file
diff -r 10939fd0eaac -r 298aa522db64 mbed-dsp.lib --- a/mbed-dsp.lib Thu Dec 24 13:49:20 2015 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://developer.mbed.org/users/mbed_official/code/mbed-dsp/#3762170b6d4d