BE@R lab
Stabilizer
Dependencies: BEAR_Protocol mbed Stabilizer iSerial
Fork of
MPU9250AHRS
by 
BE@R lab
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
--- 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
--- /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
--- 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
--- /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
--- /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
--- 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
+}
--- /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
--- 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