GRT_FS2019_VoiceCoil / Mbed 2 deprecated Cube_Mini_Template

Cube_Mini_Template

Dependencies:   mbed QEI MPU6050_2 BLE_API nRF51822 MCP4725 eMPL_MPU6050

main.cpp@9:43e5e3430621, 2020-05-13 (annotated)

Committer:
BoulusAJ
Date:
Wed May 13 10:46:05 2020 +0000
Revision:
9:43e5e3430621
Parent:
8:71babe904b92
Child:
10:4e9899cef12c
Lift up and Balance Working - May 13, 2020 12PM; This version is the version used in the first videos sent to Ruprecht

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BoulusAJ 0:8e87cdf07037 1 /*
BoulusAJ 0:8e87cdf07037 2 Boulus Abu Joudom
BoulusAJ 3:1a714eccfe9f 3 Version: May 5, 2020. 17:00
BoulusAJ 0:8e87cdf07037 4 ZHAW - IMS
BoulusAJ 0:8e87cdf07037 5
BoulusAJ 0:8e87cdf07037 6 Cubiod Balancing Experiment - Control Lab
BoulusAJ 0:8e87cdf07037 7 Seeed Tiny Microcontroller on Cuboid 1.0
BoulusAJ 0:8e87cdf07037 8 */
BoulusAJ 0:8e87cdf07037 9 // Libraries
BoulusAJ 0:8e87cdf07037 10 #include "mbed.h"
BoulusAJ 0:8e87cdf07037 11 #include "math.h"
BoulusAJ 0:8e87cdf07037 12 #include "MPU6050.h"
BoulusAJ 0:8e87cdf07037 13 #include "IIR_filter.h"
BoulusAJ 0:8e87cdf07037 14 #include "mcp4725.h"
BoulusAJ 0:8e87cdf07037 15 #include <stdbool.h>
BoulusAJ 0:8e87cdf07037 16 #include "LinearCharacteristics.h"
BoulusAJ 7:07c5b6709d87 17 #include "PID_Cntrl_Old.h"
BoulusAJ 0:8e87cdf07037 18 #include "PID_Cntrl_2.h"
BoulusAJ 0:8e87cdf07037 19
BoulusAJ 0:8e87cdf07037 20 // Serial PC Communication
BoulusAJ 0:8e87cdf07037 21 #define UART_TX p9
BoulusAJ 0:8e87cdf07037 22 #define UART_RX p11
BoulusAJ 0:8e87cdf07037 23
BoulusAJ 0:8e87cdf07037 24 // IMU SDA and SCL
BoulusAJ 0:8e87cdf07037 25 #define MPU6050_SDA p12
BoulusAJ 0:8e87cdf07037 26 #define MPU6050_SCL p13
BoulusAJ 0:8e87cdf07037 27
BoulusAJ 0:8e87cdf07037 28 // PI Value
BoulusAJ 0:8e87cdf07037 29 #define PI 3.1415927f
BoulusAJ 0:8e87cdf07037 30 #define pi 3.1415927f
BoulusAJ 0:8e87cdf07037 31
BoulusAJ 0:8e87cdf07037 32 // Analog/Digitsl I/O Definitions
BoulusAJ 0:8e87cdf07037 33 AnalogIn Velocity_Voltage_Input(p5);
BoulusAJ 2:e088fa08e244 34 DigitalOut Pin_3V3(p30);
BoulusAJ 0:8e87cdf07037 35
BoulusAJ 0:8e87cdf07037 36 // PC Serial
BoulusAJ 0:8e87cdf07037 37 Serial pc(UART_TX, UART_RX);
BoulusAJ 0:8e87cdf07037 38
BoulusAJ 0:8e87cdf07037 39 //-------- USER INPUT ( Desired Values) -------
BoulusAJ 0:8e87cdf07037 40 // User Input
BoulusAJ 0:8e87cdf07037 41 float Desired_input = 0.0f;
BoulusAJ 0:8e87cdf07037 42 // Initial System input in Amperes
BoulusAJ 0:8e87cdf07037 43 float Sys_input_Amps = 0.0f;
BoulusAJ 0:8e87cdf07037 44 //--------------------------------------------
BoulusAJ 0:8e87cdf07037 45
BoulusAJ 0:8e87cdf07037 46 // ------------- Variables -------------------
BoulusAJ 0:8e87cdf07037 47
BoulusAJ 0:8e87cdf07037 48 // Sample time of main loops
BoulusAJ 8:71babe904b92 49 float Ts = 0.005;
BoulusAJ 0:8e87cdf07037 50
BoulusAJ 0:8e87cdf07037 51 // MPU 6050 Variables - Acceleration and Gyroscope Raw and Converted Data Variables
BoulusAJ 0:8e87cdf07037 52 int16_t AccX_Raw, AccY_Raw, AccZ_Raw;
BoulusAJ 0:8e87cdf07037 53 int16_t GyroX_Raw, GyroY_Raw, GyroZ_Raw;
BoulusAJ 0:8e87cdf07037 54
BoulusAJ 0:8e87cdf07037 55 double AccX_g, AccY_g, AccZ_g;
BoulusAJ 0:8e87cdf07037 56 double GyroX_Degrees, GyroY_Degrees, GyroZ_Degrees, GyroZ_RadiansPerSecond;
BoulusAJ 0:8e87cdf07037 57
BoulusAJ 0:8e87cdf07037 58 int16_t IMU_Temperature;
BoulusAJ 0:8e87cdf07037 59 // ----------------
BoulusAJ 0:8e87cdf07037 60
BoulusAJ 0:8e87cdf07037 61 // Angle Variables
BoulusAJ 0:8e87cdf07037 62 double Cuboid_Angle_Radians, Cuboid_Angle_Degrees;
BoulusAJ 0:8e87cdf07037 63 double Cuboid_Angle_Speed_Degrees = 0.0;
BoulusAJ 0:8e87cdf07037 64
BoulusAJ 0:8e87cdf07037 65 // Low pass filter variables
BoulusAJ 0:8e87cdf07037 66 float t = 0.5f;
BoulusAJ 0:8e87cdf07037 67
BoulusAJ 0:8e87cdf07037 68 // printf Variable
BoulusAJ 0:8e87cdf07037 69 int k = 0;
BoulusAJ 0:8e87cdf07037 70 int LoopCounter = 0;
BoulusAJ 1:d3406369c297 71 float LoopTime = 0.0;
BoulusAJ 0:8e87cdf07037 72
BoulusAJ 0:8e87cdf07037 73 // Flywheel Position and Velocity variables
BoulusAJ 0:8e87cdf07037 74 double Velocity_Input_Voltage = 0.0f;
BoulusAJ 0:8e87cdf07037 75 double Velocity, Velocity_Voltage, Velocity_rpm, Velocity_Voltage_Read;
BoulusAJ 0:8e87cdf07037 76
BoulusAJ 0:8e87cdf07037 77 // ------------------
BoulusAJ 0:8e87cdf07037 78
BoulusAJ 0:8e87cdf07037 79 //----------------- Controller VARIABLES------------------
BoulusAJ 0:8e87cdf07037 80 // Variables concerning the Controller, the Design is in reference to the Matlab Simulink .............. and Variables are in reference to the ............. File
BoulusAJ 0:8e87cdf07037 81
BoulusAJ 0:8e87cdf07037 82 // Sate Space Controller Values
BoulusAJ 8:71babe904b92 83 float K_SS_Controller [2] = {-57.1176*0.3, -2.6398}; // From Matlab
BoulusAJ 0:8e87cdf07037 84
BoulusAJ 0:8e87cdf07037 85 // Controller Variables
BoulusAJ 0:8e87cdf07037 86 float Loop1_output; // Loop 1 controller output
BoulusAJ 0:8e87cdf07037 87 float Loop2_output; // Loop 2 controller output
BoulusAJ 0:8e87cdf07037 88 float PID_Input, PID_Output;
BoulusAJ 0:8e87cdf07037 89
BoulusAJ 0:8e87cdf07037 90 // Saturation Parameters
BoulusAJ 0:8e87cdf07037 91 // PI Controller Limits
BoulusAJ 6:122879c1503a 92 const float uMin1 = -5.0f;
BoulusAJ 6:122879c1503a 93 const float uMax1= 5.0f;
BoulusAJ 0:8e87cdf07037 94
BoulusAJ 0:8e87cdf07037 95 // Cuboid Driver Input Limits
BoulusAJ 8:71babe904b92 96 const float uMin2 = -12.0f;
BoulusAJ 8:71babe904b92 97 const float uMax2= 12.0f;
BoulusAJ 0:8e87cdf07037 98
BoulusAJ 0:8e87cdf07037 99 // Controller Loop 2 (PI-Part)
BoulusAJ 0:8e87cdf07037 100 float Kp_1 = -0.09;
BoulusAJ 0:8e87cdf07037 101 float Ki_1 = -0.09;
BoulusAJ 0:8e87cdf07037 102 float Kd_1 = 0; // No D-Part
BoulusAJ 0:8e87cdf07037 103 float Tf_1 = 1; // No D-Part
BoulusAJ 0:8e87cdf07037 104
BoulusAJ 0:8e87cdf07037 105 // Controller Loop (PI-Part) in Case 2 (breaking case)
BoulusAJ 0:8e87cdf07037 106 float Kp_2 = 4;
BoulusAJ 0:8e87cdf07037 107 float Ki_2 = 80;
BoulusAJ 0:8e87cdf07037 108 float Kd_2 = 0; // No D-Part
BoulusAJ 0:8e87cdf07037 109 float Tf_2 = 1; // No D-Part
BoulusAJ 0:8e87cdf07037 110
BoulusAJ 0:8e87cdf07037 111 // ---------- Functions -------------
BoulusAJ 0:8e87cdf07037 112
BoulusAJ 0:8e87cdf07037 113 // Interrupts
BoulusAJ 0:8e87cdf07037 114 Ticker ControllerLoopTimer; // Interrupt for control loop
BoulusAJ 0:8e87cdf07037 115
BoulusAJ 0:8e87cdf07037 116 // DAC
BoulusAJ 0:8e87cdf07037 117 MCP4725 VoltageOut(p3, p4, MCP4725::Fast400kHz, 0);
BoulusAJ 0:8e87cdf07037 118
BoulusAJ 0:8e87cdf07037 119 // IMU - MPU6050 Functions and I2C Functions
BoulusAJ 0:8e87cdf07037 120 I2C i2c(MPU6050_SDA, MPU6050_SCL);
BoulusAJ 0:8e87cdf07037 121 MPU6050 mpu(i2c);
BoulusAJ 0:8e87cdf07037 122
BoulusAJ 0:8e87cdf07037 123 // Accelerometer and Gyroscope Filters
BoulusAJ 0:8e87cdf07037 124 IIR_filter FilterAccX(t, Ts, 1.0f);
BoulusAJ 0:8e87cdf07037 125 IIR_filter FilterAccY(t, Ts, 1.0f);
BoulusAJ 0:8e87cdf07037 126 IIR_filter FilterGyro(t, Ts, t);
BoulusAJ 0:8e87cdf07037 127
BoulusAJ 0:8e87cdf07037 128 // Linear Scaler
BoulusAJ 3:1a714eccfe9f 129 LinearCharacteristics CurrentToVoltage(-15.0f, 15.0f, 0.0f, 5.0f);
BoulusAJ 3:1a714eccfe9f 130 LinearCharacteristics VoltageToVelocity(0.0f, 3.0f, -4000.0f, 4000.0f);
BoulusAJ 0:8e87cdf07037 131
BoulusAJ 0:8e87cdf07037 132 // PID Controllers
BoulusAJ 7:07c5b6709d87 133 PID_Cntrl_Old C1(Kp_1,Ki_1,Kd_1,Tf_1,Ts,uMin1,uMax1); // Defining the 1st Loop Controller (PI-Part)
BoulusAJ 7:07c5b6709d87 134 PID_Cntrl_Old C2(Kp_2,Ki_2,Kd_2,Tf_2,Ts,uMin1,uMax1); // Defining the PI Controller for Chase (State 2) to keep motor velocity at zero
BoulusAJ 0:8e87cdf07037 135
BoulusAJ 0:8e87cdf07037 136 // Timers
BoulusAJ 0:8e87cdf07037 137 Timer Loop;
BoulusAJ 0:8e87cdf07037 138
BoulusAJ 0:8e87cdf07037 139 // ----- User defined functions -----------
BoulusAJ 0:8e87cdf07037 140 void updateControllers(void); // speed controller loop (via interrupt)
BoulusAJ 0:8e87cdf07037 141
BoulusAJ 0:8e87cdf07037 142 // -------------- MAIN LOOP ----------------
BoulusAJ 0:8e87cdf07037 143 int main()
BoulusAJ 0:8e87cdf07037 144 {
BoulusAJ 9:43e5e3430621 145 VoltageOut.write(CurrentToVoltage(Sys_input_Amps));
BoulusAJ 9:43e5e3430621 146 wait(20);
BoulusAJ 0:8e87cdf07037 147
BoulusAJ 0:8e87cdf07037 148 pc.baud(115200);
BoulusAJ 2:e088fa08e244 149 Pin_3V3.write(1);
BoulusAJ 4:2a5cd0ad8100 150
BoulusAJ 8:71babe904b92 151 //Loop.start();
BoulusAJ 0:8e87cdf07037 152
BoulusAJ 0:8e87cdf07037 153 // Reset Filters
BoulusAJ 0:8e87cdf07037 154 FilterAccX.reset(0.0f);
BoulusAJ 0:8e87cdf07037 155 FilterAccY.reset(0.0f);
BoulusAJ 0:8e87cdf07037 156 FilterGyro.reset(0.0f);
BoulusAJ 0:8e87cdf07037 157
BoulusAJ 0:8e87cdf07037 158 //--------------------------------- IMU - MPU6050 initialize -------------------------------------
BoulusAJ 0:8e87cdf07037 159 pc.printf("MPU6050 initialize \n\r");
BoulusAJ 0:8e87cdf07037 160 mpu.initialize();
BoulusAJ 0:8e87cdf07037 161 pc.printf("MPU6050 testConnection \n\r");
BoulusAJ 0:8e87cdf07037 162
BoulusAJ 0:8e87cdf07037 163 bool mpu6050TestResult = mpu.testConnection();
BoulusAJ 0:8e87cdf07037 164 if(mpu6050TestResult) {
BoulusAJ 0:8e87cdf07037 165 pc.printf("MPU6050 test passed \n\r");
BoulusAJ 0:8e87cdf07037 166 } else {
BoulusAJ 0:8e87cdf07037 167 pc.printf("MPU6050 test failed \n\r");
BoulusAJ 0:8e87cdf07037 168 }
BoulusAJ 0:8e87cdf07037 169
BoulusAJ 0:8e87cdf07037 170 // Set Low Pass Filter Bandwidth to 44Hz (4.9ms) for the Acc and 42Hz (4.8ms) for the Gyroscope
BoulusAJ 0:8e87cdf07037 171 //mpu.setDLPFMode(MPU6050_DLPF_BW_42);
BoulusAJ 0:8e87cdf07037 172
BoulusAJ 0:8e87cdf07037 173 // Set Low Pass Filter Bandwidth to 21Hz (8.5ms) for the Acc and 20Hz (8.3ms) for the Gyroscope
BoulusAJ 0:8e87cdf07037 174 mpu.setDLPFMode(MPU6050_DLPF_BW_20);
BoulusAJ 0:8e87cdf07037 175
BoulusAJ 0:8e87cdf07037 176 // Change the scale of the Gyroscope to +/- 1000 degrees/sec
BoulusAJ 0:8e87cdf07037 177 mpu.setFullScaleGyroRange(2u);
BoulusAJ 0:8e87cdf07037 178
BoulusAJ 0:8e87cdf07037 179 // Change the scale of the Accelerometer to +/- 4g - Sensitivity: 4096 LSB/mg
BoulusAJ 0:8e87cdf07037 180 mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_4);
BoulusAJ 0:8e87cdf07037 181
BoulusAJ 0:8e87cdf07037 182 //----------------------------------------------------------------------------------------------
BoulusAJ 4:2a5cd0ad8100 183
BoulusAJ 0:8e87cdf07037 184 // Reset PID
BoulusAJ 6:122879c1503a 185 C1.reset(0.0f);
BoulusAJ 0:8e87cdf07037 186
BoulusAJ 0:8e87cdf07037 187 pc.printf("Hello World!\n\r");
BoulusAJ 9:43e5e3430621 188 //wait(15);
BoulusAJ 8:71babe904b92 189 Loop.start();
BoulusAJ 7:07c5b6709d87 190 ControllerLoopTimer.attach(&updateControllers, Ts);
BoulusAJ 7:07c5b6709d87 191
BoulusAJ 7:07c5b6709d87 192 }
BoulusAJ 4:2a5cd0ad8100 193
BoulusAJ 8:71babe904b92 194 // Loop.reset();
BoulusAJ 8:71babe904b92 195
BoulusAJ 7:07c5b6709d87 196 void updateControllers(void)
BoulusAJ 7:07c5b6709d87 197 {
BoulusAJ 8:71babe904b92 198
BoulusAJ 0:8e87cdf07037 199
BoulusAJ 7:07c5b6709d87 200 // Counter
BoulusAJ 7:07c5b6709d87 201 //LoopCounter++;
BoulusAJ 0:8e87cdf07037 202
BoulusAJ 7:07c5b6709d87 203 // Acquire Velocity
BoulusAJ 7:07c5b6709d87 204 Velocity_Voltage_Read = Velocity_Voltage_Input.read();
BoulusAJ 7:07c5b6709d87 205 Velocity_Voltage = 3.2442178*(Velocity_Voltage_Read);
BoulusAJ 7:07c5b6709d87 206 Velocity_rpm = VoltageToVelocity(Velocity_Voltage);
BoulusAJ 7:07c5b6709d87 207 Velocity = Velocity_rpm*2.0*pi/60.0;
BoulusAJ 7:07c5b6709d87 208
BoulusAJ 0:8e87cdf07037 209
BoulusAJ 7:07c5b6709d87 210 // Aquire Raw Acceleration and Gyro Data form the IMU
BoulusAJ 7:07c5b6709d87 211 mpu.getMotion6(&AccX_Raw, &AccY_Raw, &AccZ_Raw, &GyroX_Raw, &GyroY_Raw, &GyroZ_Raw);
BoulusAJ 7:07c5b6709d87 212
BoulusAJ 7:07c5b6709d87 213 // -------------- Convert Raw data to SI Units --------------------
BoulusAJ 7:07c5b6709d87 214
BoulusAJ 7:07c5b6709d87 215 //Convert Acceleration Raw Data to (ms^-2) - (Settings of +/- 4g)
BoulusAJ 7:07c5b6709d87 216 AccX_g = AccX_Raw / 8192.0f;
BoulusAJ 7:07c5b6709d87 217 AccY_g = AccY_Raw / 8192.0f;
BoulusAJ 7:07c5b6709d87 218 AccZ_g = AccZ_Raw / 8192.0f;
BoulusAJ 0:8e87cdf07037 219
BoulusAJ 7:07c5b6709d87 220 //Convert Gyroscope Raw Data to Degrees per second
BoulusAJ 7:07c5b6709d87 221 GyroX_Degrees = GyroX_Raw / 32.768f; // (2^15/1000 = 32.768)
BoulusAJ 7:07c5b6709d87 222 GyroY_Degrees = GyroY_Raw / 32.768f; // (2^15/1000 = 32.768)
BoulusAJ 7:07c5b6709d87 223 GyroZ_Degrees = GyroZ_Raw / 32.768f; // (2^15/1000 = 32.768)
BoulusAJ 0:8e87cdf07037 224
BoulusAJ 7:07c5b6709d87 225 //Convert Gyroscope Raw Data to Degrees per second
BoulusAJ 7:07c5b6709d87 226 GyroZ_RadiansPerSecond = (GyroZ_Raw / 32.768f)* pi/180.0f;
BoulusAJ 0:8e87cdf07037 227
BoulusAJ 7:07c5b6709d87 228 // ----- Combine Accelerometer Data and Gyro Data to Get Angle ------
BoulusAJ 0:8e87cdf07037 229
BoulusAJ 7:07c5b6709d87 230 Cuboid_Angle_Radians = -1*atan2(-FilterAccX(AccX_g), FilterAccY(AccY_g)) + 0.7854f + FilterGyro(GyroZ_RadiansPerSecond); // Check later if fast enough!!
BoulusAJ 7:07c5b6709d87 231 Cuboid_Angle_Degrees = Cuboid_Angle_Radians*180.0f/pi;
BoulusAJ 0:8e87cdf07037 232
BoulusAJ 0:8e87cdf07037 233
BoulusAJ 7:07c5b6709d87 234 // ------------------------- Controller -----------------------------
BoulusAJ 7:07c5b6709d87 235 // Current Input Updater - Amperes
BoulusAJ 7:07c5b6709d87 236 // Loop 1
BoulusAJ 7:07c5b6709d87 237 Loop1_output = Cuboid_Angle_Radians*K_SS_Controller[0];
BoulusAJ 7:07c5b6709d87 238 // Loop 2
BoulusAJ 7:07c5b6709d87 239 Loop2_output = GyroZ_RadiansPerSecond*K_SS_Controller[1];
BoulusAJ 7:07c5b6709d87 240 // PI Controller
BoulusAJ 7:07c5b6709d87 241 PID_Input = Desired_input - Velocity;
BoulusAJ 8:71babe904b92 242 PID_Output = C1.update(PID_Input);
BoulusAJ 7:07c5b6709d87 243 /*
BoulusAJ 8:71babe904b92 244
BoulusAJ 7:07c5b6709d87 245 //PID_Output = C1.update(-1*PID_Input);
BoulusAJ 7:07c5b6709d87 246 //PID_Output = 0; // CHANGE LATER - This is for testing purposes
BoulusAJ 7:07c5b6709d87 247 */
BoulusAJ 0:8e87cdf07037 248
BoulusAJ 7:07c5b6709d87 249 // System input
BoulusAJ 8:71babe904b92 250 Sys_input_Amps = PID_Output - Loop1_output - Loop2_output;
BoulusAJ 3:1a714eccfe9f 251
BoulusAJ 3:1a714eccfe9f 252
BoulusAJ 7:07c5b6709d87 253 if (Sys_input_Amps > uMax2) {
BoulusAJ 7:07c5b6709d87 254 Sys_input_Amps = uMax2;
BoulusAJ 7:07c5b6709d87 255 }
BoulusAJ 7:07c5b6709d87 256 if (Sys_input_Amps < uMin2) {
BoulusAJ 7:07c5b6709d87 257 Sys_input_Amps = uMin2;
BoulusAJ 7:07c5b6709d87 258 }
BoulusAJ 4:2a5cd0ad8100 259
BoulusAJ 7:07c5b6709d87 260 // Scaling the controller output from -15 A --> 15 A to 0 V --> 5 V
BoulusAJ 7:07c5b6709d87 261 VoltageOut.write(CurrentToVoltage(Sys_input_Amps));
BoulusAJ 7:07c5b6709d87 262
BoulusAJ 7:07c5b6709d87 263 // Print Data
BoulusAJ 8:71babe904b92 264 if(++k >= 200) {
BoulusAJ 7:07c5b6709d87 265 k = 0;
BoulusAJ 0:8e87cdf07037 266
BoulusAJ 4:2a5cd0ad8100 267 //1LoopCounter,2.1CurrentToVoltage, 2Sys_input_Amps, 3Cuboid_Angle_Degrees, 4GyroZ_RadiansPerSecond, 5Velocity, 6Velocity_Voltage, 7AccX_g, 8AccY_g, 9PID_Input, 10PID_Output, (Loop1_output+Loop2_output), Loop.read())
BoulusAJ 7:07c5b6709d87 268 pc.printf(" %i, %0.5f, %0.5f, %0.5f, %0.5f, %0.5f, %0.5f, %0.5f, %0.5f, %0.5f, %0.5f, %0.5f, ", LoopCounter, CurrentToVoltage(Sys_input_Amps), Sys_input_Amps, Cuboid_Angle_Degrees, GyroZ_RadiansPerSecond, Velocity, Velocity_Voltage, AccX_g, AccY_g, PID_Input, PID_Output, (Loop1_output+Loop2_output));
BoulusAJ 8:71babe904b92 269 pc.printf("%i; %0.6f, \n\r", LoopCounter, Loop.read());
BoulusAJ 7:07c5b6709d87 270 }
BoulusAJ 4:2a5cd0ad8100 271
BoulusAJ 7:07c5b6709d87 272 //pc.printf("%i; %0.6f, \n\r", LoopCounter, Loop.read());
BoulusAJ 0:8e87cdf07037 273
BoulusAJ 7:07c5b6709d87 274 //
BoulusAJ 7:07c5b6709d87 275
BoulusAJ 7:07c5b6709d87 276 // wait(0.0025);
BoulusAJ 7:07c5b6709d87 277 // pc.printf(" %0.5f \n\r", Loop.read());
BoulusAJ 4:2a5cd0ad8100 278
BoulusAJ 7:07c5b6709d87 279 /*
BoulusAJ 7:07c5b6709d87 280 LoopTime = Loop.read();
BoulusAJ 7:07c5b6709d87 281 while(LoopTime < Ts) {
BoulusAJ 7:07c5b6709d87 282 LoopTime = Loop.read();
BoulusAJ 7:07c5b6709d87 283 }
BoulusAJ 7:07c5b6709d87 284 */
BoulusAJ 4:2a5cd0ad8100 285
BoulusAJ 7:07c5b6709d87 286 // pc.printf(" %0.5f \n\r", LoopTime);
BoulusAJ 7:07c5b6709d87 287
BoulusAJ 7:07c5b6709d87 288 //pc.printf("Angle = %0.2f, Current = %0.2f, VoltageOut = %0.3f, Velocity = %0.2f, VoltageIn = %0.3f\n\r", Cuboid_Angle_Degrees, Sys_input_Amps, CurrentToVoltage(Sys_input_Amps), Velocity, Velocity_Voltage);
BoulusAJ 0:8e87cdf07037 289
BoulusAJ 7:07c5b6709d87 290 /*
BoulusAJ 7:07c5b6709d87 291 // Print Data
BoulusAJ 7:07c5b6709d87 292 if(++k >= 300) {
BoulusAJ 7:07c5b6709d87 293 k = 0;
BoulusAJ 7:07c5b6709d87 294 //pc.printf("%0.8f\n\r", Loop.read());
BoulusAJ 7:07c5b6709d87 295 pc.printf("Angle = %0.2f, Current = %0.2f, VoltageOut = %0.3f, Velocity = %0.2f, VoltageIn = %0.3f\n\r", Cuboid_Angle_Degrees, Sys_input_Amps, CurrentToVoltage(Sys_input_Amps), Velocity, Velocity_Voltage);
BoulusAJ 0:8e87cdf07037 296
BoulusAJ 7:07c5b6709d87 297 }
BoulusAJ 7:07c5b6709d87 298 */
BoulusAJ 4:2a5cd0ad8100 299
BoulusAJ 7:07c5b6709d87 300
BoulusAJ 1:d3406369c297 301 }
BoulusAJ 0:8e87cdf07037 302
BoulusAJ 0:8e87cdf07037 303
BoulusAJ 0:8e87cdf07037 304
BoulusAJ 0:8e87cdf07037 305
BoulusAJ 0:8e87cdf07037 306
BoulusAJ 0:8e87cdf07037 307 //-------------------------------------------------------------------
BoulusAJ 0:8e87cdf07037 308 //--------------------------Example Codes-----------------------------
BoulusAJ 0:8e87cdf07037 309
BoulusAJ 0:8e87cdf07037 310 // This code demonstrates how to change the Low Pass Filter Bandwidth
BoulusAJ 0:8e87cdf07037 311 /*
BoulusAJ 0:8e87cdf07037 312 pc.printf("Digital Low Pass Filter Bandwidth: %u \n\r", mpu.getDLPFMode());
BoulusAJ 0:8e87cdf07037 313
BoulusAJ 0:8e87cdf07037 314 mpu.setDLPFMode(MPU6050_DLPF_BW_42);
BoulusAJ 0:8e87cdf07037 315 wait(0.1);
BoulusAJ 0:8e87cdf07037 316 pc.printf("Digital Low Pass Filter Bandwidth: %u \n\r", mpu.getDLPFMode());
BoulusAJ 0:8e87cdf07037 317 */
BoulusAJ 0:8e87cdf07037 318 // ----------------
BoulusAJ 0:8e87cdf07037 319
BoulusAJ 0:8e87cdf07037 320 // This code demonstrates how to change the scale settings for the Gyro scope
BoulusAJ 0:8e87cdf07037 321 /*
BoulusAJ 0:8e87cdf07037 322 pc.printf("Gyro Range Scale: %u \n\r", mpu.getFullScaleGyroRange());
BoulusAJ 0:8e87cdf07037 323 int Temp123 = 0;
BoulusAJ 0:8e87cdf07037 324 while(Temp123 < 5) {
BoulusAJ 0:8e87cdf07037 325
BoulusAJ 0:8e87cdf07037 326 wait(0.4);
BoulusAJ 0:8e87cdf07037 327 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
BoulusAJ 0:8e87cdf07037 328 //writing current accelerometer and gyro position
BoulusAJ 0:8e87cdf07037 329 pc.printf(" AccX: %d; AccY: %d; AccZ: %d; GyroX: %d; GyroY: %d; GyroZ: %d;\n\r",ax,ay,az,gx,gy,gz);
BoulusAJ 0:8e87cdf07037 330 Temp123 = Temp123 + 1;
BoulusAJ 0:8e87cdf07037 331 }
BoulusAJ 0:8e87cdf07037 332 Temp123 = 0;
BoulusAJ 0:8e87cdf07037 333
BoulusAJ 0:8e87cdf07037 334 mpu.setFullScaleGyroRange(3u);
BoulusAJ 0:8e87cdf07037 335 wait(0.1);
BoulusAJ 0:8e87cdf07037 336 pc.printf("Gyro Range Scale: %u \n\r", mpu.getFullScaleGyroRange());
BoulusAJ 0:8e87cdf07037 337 while(Temp123 < 5) {
BoulusAJ 0:8e87cdf07037 338
BoulusAJ 0:8e87cdf07037 339 wait(0.4);
BoulusAJ 0:8e87cdf07037 340 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
BoulusAJ 0:8e87cdf07037 341 //writing current accelerometer and gyro position
BoulusAJ 0:8e87cdf07037 342 pc.printf(" AccX: %d; AccY: %d; AccZ: %d; GyroX: %d; GyroY: %d; GyroZ: %d;\n\r",ax,ay,az,gx,gy,gz);
BoulusAJ 0:8e87cdf07037 343 Temp123 = Temp123 + 1;
BoulusAJ 0:8e87cdf07037 344 }
BoulusAJ 0:8e87cdf07037 345 Temp123 = 0;
BoulusAJ 0:8e87cdf07037 346 */
BoulusAJ 0:8e87cdf07037 347
BoulusAJ 0:8e87cdf07037 348 /*
BoulusAJ 0:8e87cdf07037 349 while(1) {
BoulusAJ 0:8e87cdf07037 350 wait(0.4);
BoulusAJ 0:8e87cdf07037 351 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
BoulusAJ 0:8e87cdf07037 352 //writing current accelerometer and gyro position
BoulusAJ 0:8e87cdf07037 353 pc.printf(" AccX: %d; AccY: %d; AccZ: %d; GyroX: %d; GyroY: %d; GyroZ: %d;\n\r",ax,ay,az,gx,gy,gz);
BoulusAJ 0:8e87cdf07037 354 }
BoulusAJ 0:8e87cdf07037 355 */
BoulusAJ 0:8e87cdf07037 356 // ------------------
BoulusAJ 0:8e87cdf07037 357
BoulusAJ 0:8e87cdf07037 358
BoulusAJ 0:8e87cdf07037 359 // Printing Register Values
BoulusAJ 0:8e87cdf07037 360 //printf("i2c SCL : 0x%x\r\n", *((unsigned int *)0x40004508));
BoulusAJ 0:8e87cdf07037 361
BoulusAJ 0:8e87cdf07037 362 // ------------------
BoulusAJ 0:8e87cdf07037 363
BoulusAJ 0:8e87cdf07037 364 // Velocity Measurement Code for Designing a Filter
BoulusAJ 0:8e87cdf07037 365 /*
BoulusAJ 0:8e87cdf07037 366 if (aaa < (600*3)) {
BoulusAJ 0:8e87cdf07037 367 if (++aaa <= 900) {
BoulusAJ 0:8e87cdf07037 368 VoltageOut.write(CurrentToVoltage(1.0f));
BoulusAJ 0:8e87cdf07037 369 } else {
BoulusAJ 0:8e87cdf07037 370 VoltageOut.write(CurrentToVoltage(-1.0f));
BoulusAJ 0:8e87cdf07037 371 }
BoulusAJ 0:8e87cdf07037 372 pc.printf("%0.8f\n\r", Velocity_Voltage_Read);
BoulusAJ 0:8e87cdf07037 373 } else {
BoulusAJ 0:8e87cdf07037 374 VoltageOut.write(CurrentToVoltage(0.0f));
BoulusAJ 0:8e87cdf07037 375 }
BoulusAJ 0:8e87cdf07037 376 */