bamlor nuttymaisuay
Dependencies: mbed
Diff: main.cpp
- Revision:
- 4:9cc307f25dc9
- Parent:
- 3:46cc9d386ff4
- Child:
- 5:738285670edf
--- a/main.cpp Sun Dec 10 11:45:47 2017 +0000 +++ b/main.cpp Mon Dec 11 01:12:18 2017 +0000 @@ -33,7 +33,7 @@ -float x = 9,y = 0; +float x = 10,y = 0; float sum = 0; uint32_t sumCount = 0; char buffer[14]; @@ -46,11 +46,11 @@ -BusOut C(PA_0,PA_1,PA_4,PB_0,PC_1,PC_2,PC_3), A(PC_10,PC_12,PA_13,PA_14,PC_13,PC_11,PD_2), B(PA_5,PA_6,PA_7,PC_7,PB_2,PB_1,PB_15); +BusOut B(PA_0,PA_1,PA_4,PB_0,PC_1,PC_2,PC_3), A(PC_10,PC_12,PA_13,PA_14,PC_13,PC_11,PD_2), C(PA_5,PA_6,PA_7,PC_7,PB_2,PB_1,PB_15); float posA,posB,posC; int main() { - A = 0x7F; + pc.baud(9600); //Set up I2C i2c.frequency(400000); // use fast (400 kHz) I2C @@ -126,11 +126,11 @@ // 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.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 @@ -138,20 +138,20 @@ 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 - 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]; - } +// 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 +// 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]; +// } - Now = t.read_us(); - deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update - lastUpdate = Now; + // 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++; + //sum += deltat; +// sumCount++; // if(lastUpdate - firstUpdate > 10000000.0f) { // beta = 0.04; // decrease filter gain after stabilized @@ -163,19 +163,34 @@ 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 (delt_t > 5) { // update LCD once per half-second independent of read rate - pc.printf("delt_t = %f\n",delt_t); - pc.printf(" x = %f", x); - y += 1; - if (y == 2000) + delt_t = t.read_us() - count; + if (delt_t > 1) { // update LCD once per half-second independent of read rate + // pc.printf("delt_t = %f\n",delt_t); + + // if (gz < 1) +// { +// x = 0; +// } +// else if (gz < 50) +// { +// x = 19; +// } +// else +// { +// x = 13; +// } + // x=35; + if(gz<0) { - x+=0.5; - y = 0; - } - posA += (gz*delt_t*x/1000); - posB = posA + 120; - posC = posA + 240; + x = 0; + } + x = 89.1 ; + posA += (gz*delt_t*x/1000000); + posA = fmod(posA,360); + posB = fmod(posA + 240,360); + posC = fmod(posA + 120,360); + //pc.printf("x = %f", x); + // if (posA >= 360 && posA < 720) // { @@ -217,38 +232,76 @@ // { // break; // } - if (posA >= 360) + + if (posA > 0 && posA < 12) { - posA-=360; + A = 0x70; + } + else if(posA > 12 && posA < 24 ) + { + A = 0x08; } - if (posA > 0 && posA < 30) + else if(posA > 24 && posA < 36 ) + { + A = 0x07; + } + else if(posA > 36 && posA < 48 ) { - A = 0x7F; - } + A = 0x08; + } + else if(posA > 48 && posA < 60 ) + { + A = 0x70; + } else { A = 0x00; } - if (posB >= 360) - { - posB-=360; - } if (posB > 0 && posB < 30) { - B = 0x7F; + B = 0x70; + } + else if(posB > 12 && posB < 24 ) + { + B = 0x08; } + else if(posB > 24 && posB < 36 ) + { + B = 0x07; + } + else if(posB > 36 && posB < 48 ) + { + B = 0x08; + } + else if(posB > 48 && posB < 60 ) + { + B = 0x70; + } else { B = 0x00; } - if (posC >= 360) - { - posC-=360; - } + if (posC > 0 && posC < 30) { - C = 0x7F; + C = 0x70; + } + else if(posC > 12 && posC < 24 ) + { + C = 0x08; } + else if(posC > 24 && posC < 36 ) + { + C = 0x07; + } + else if(posC > 36 && posC < 48 ) + { + C = 0x08; + } + else if(posC > 48 && posC < 60 ) + { + C = 0x70; + } else { C = 0x00; @@ -259,15 +312,15 @@ // pc.printf("gx = %f", gx); // pc.printf(" gy = %f", gy); - pc.printf(" gz = %f deg/s\n\r", gz); - pc.printf(" posA = %f\n", posA); + pc.printf(" %.2f\r", gz); + pc.printf(" %.2f %.2f %.2f\n", posA, posB, posC); // pc.printf("gx = %f", mx); // pc.printf(" gy = %f", my); // pc.printf(" gz = %f mG\n\r", mz); - tempCount = mpu9250.readTempData(); // Read the adc values - temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade + // 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]); @@ -286,13 +339,13 @@ // 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]); - pitch *= 180.0f / PI; - yaw *= 180.0f / PI; - yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 - roll *= 180.0f / PI; +// 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]); +// pitch *= 180.0f / PI; +// yaw *= 180.0f / PI; +// yaw -= 13.8f; // 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); @@ -300,18 +353,19 @@ // sprintf(buffer, "rate = %f", (float) sumCount/sum); // - count = t.read_ms(); + count = t.read_us(); - 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; + // 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; } } - pc.printf("fuck you"); + +} } \ No newline at end of file