SCRIBE / localization

The localization library for SCRIBE

Dependents:   SCRIBE_stepper

localization.cpp@5:dcce3f262830, 2016-04-20 (annotated)

Committer:
nibab
Date:
Wed Apr 20 01:02:55 2016 +0000
Revision:
5:dcce3f262830
Parent:
4:5c1de47812db
Child:
6:ee872bf49be6
Change the IMU pins to (p28, p27) and change mu1 pins to (p26, p25).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nibab 0:a5cac0a5e41d 1 #include "localization.h"
nibab 0:a5cac0a5e41d 2
nibab 0:a5cac0a5e41d 3
nibab 0:a5cac0a5e41d 4 void dist(int distance)
nibab 0:a5cac0a5e41d 5 {
nibab 0:a5cac0a5e41d 6 //put code here to happen when the distance is changed
nibab 0:a5cac0a5e41d 7 printf("Distance1 changed to %dmm\r\n", distance);
nibab 0:a5cac0a5e41d 8 }
nibab 0:a5cac0a5e41d 9
nibab 5:dcce3f262830 10 BNO055 imu(p28, p27);
nibab 5:dcce3f262830 11 //ultrasonic mu1(p26, p25, .1, 1, &dist);
nibab 4:5c1de47812db 12 //ultrasonic mu2(p30, p29, .1, 1, &dist);
nibab 0:a5cac0a5e41d 13
nibab 0:a5cac0a5e41d 14 localization::localization(){
nibab 0:a5cac0a5e41d 15 X = 0;
nibab 0:a5cac0a5e41d 16 Y = 0;
nibab 0:a5cac0a5e41d 17 }
nibab 0:a5cac0a5e41d 18
nibab 0:a5cac0a5e41d 19 void localization::reset(){
nibab 4:5c1de47812db 20 //mu1.startUpdates();//start mesuring the distance
nibab 4:5c1de47812db 21 //mu2.startUpdates();
nibab 0:a5cac0a5e41d 22 imu.reset();
nibab 0:a5cac0a5e41d 23 // Check that BNO055 is connected
nibab 0:a5cac0a5e41d 24 if (!imu.check()){
nibab 0:a5cac0a5e41d 25 while (true){
nibab 0:a5cac0a5e41d 26 printf("BNO055 IMU not connected");
nibab 0:a5cac0a5e41d 27 wait(0.1);
nibab 0:a5cac0a5e41d 28 }
nibab 0:a5cac0a5e41d 29 }
nibab 0:a5cac0a5e41d 30 // Display sensor information
nibab 0:a5cac0a5e41d 31 printf("BNO055 found\r\n\r\n");
nibab 0:a5cac0a5e41d 32 printf("Chip ID: %d\r\n",imu.ID.id);
nibab 0:a5cac0a5e41d 33 printf("Accelerometer ID: %d\r\n",imu.ID.accel);
nibab 0:a5cac0a5e41d 34 printf("Gyroscope ID: %d\r\n",imu.ID.gyro);
nibab 0:a5cac0a5e41d 35 printf("Magnetometer ID: %d\r\n\r\n",imu.ID.mag);
nibab 0:a5cac0a5e41d 36 printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
nibab 0:a5cac0a5e41d 37 printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
nibab 0:a5cac0a5e41d 38 // Display chip serial number
nibab 0:a5cac0a5e41d 39 for (int i = 0; i<4; i++){
nibab 0:a5cac0a5e41d 40 printf("%d.%d.%d.%d\r\n",imu.ID.serial[i*4],imu.ID.serial[i*4+1],imu.ID.serial[i*4+2],imu.ID.serial[i*4+3]);
nibab 0:a5cac0a5e41d 41 }
nibab 0:a5cac0a5e41d 42 printf("\r\n");
nibab 0:a5cac0a5e41d 43 }
nibab 0:a5cac0a5e41d 44
nibab 1:2cd9602780f4 45 float localization::getAngle(){
nibab 1:2cd9602780f4 46 #ifndef VERTICAL //On horizontal plane
nibab 1:2cd9602780f4 47 imu.setmode(OPERATION_MODE_NDOF);
nibab 1:2cd9602780f4 48 imu.get_angles();
nibab 1:2cd9602780f4 49 float angle = imu.euler.yaw;
nibab 1:2cd9602780f4 50 return angle;
nibab 1:2cd9602780f4 51 #else // On vertical plane
nibab 1:2cd9602780f4 52 imu.setmode(OPERATION_MODE_NDOF);
nibab 1:2cd9602780f4 53 imu.get_grv();
nibab 1:2cd9602780f4 54 float gravityX = imu.gravity.x, gravityY = imu.gravity.y;
nibab 1:2cd9602780f4 55 float radian = atan(gravityY/gravityX);
nibab 1:2cd9602780f4 56 float degree = radian * 180 / 3.14159265359;
nibab 1:2cd9602780f4 57 if(gravityX >= 0 && gravityY >= 0)
nibab 1:2cd9602780f4 58 return degree;
nibab 1:2cd9602780f4 59 else if(gravityX < 0)
nibab 1:2cd9602780f4 60 return 180 + degree;
nibab 1:2cd9602780f4 61 else // gravityX >= 0 && gravityY < 0
nibab 1:2cd9602780f4 62 return 360 + degree;
nibab 1:2cd9602780f4 63 #endif
nibab 1:2cd9602780f4 64 }
nibab 1:2cd9602780f4 65
nibab 4:5c1de47812db 66 /*
nibab 0:a5cac0a5e41d 67 void localization::measure(){
nibab 0:a5cac0a5e41d 68 while(1){
nibab 0:a5cac0a5e41d 69 imu.setmode(OPERATION_MODE_NDOF);
nibab 0:a5cac0a5e41d 70 imu.get_angles();
nibab 2:e9d692eea8de 71 float angle = this->getAngle();
nibab 2:e9d692eea8de 72 printf("Angle: %.3f\r\n", angle);
nibab 2:e9d692eea8de 73 if(angle < 359.0 && angle >= 180.0){
nibab 0:a5cac0a5e41d 74 //turn right here
nibab 0:a5cac0a5e41d 75 printf("Turn right!\r\n");
nibab 0:a5cac0a5e41d 76 wait(0.1);
nibab 0:a5cac0a5e41d 77 continue;
nibab 2:e9d692eea8de 78 }else if(angle >= 1.0 && angle < 180.0){
nibab 0:a5cac0a5e41d 79 //turn left here
nibab 0:a5cac0a5e41d 80 printf("Turn left!\r\n");
nibab 0:a5cac0a5e41d 81 wait(0.1);
nibab 0:a5cac0a5e41d 82 continue;
nibab 0:a5cac0a5e41d 83 }else{break;}
nibab 0:a5cac0a5e41d 84 }
nibab 2:e9d692eea8de 85
nibab 0:a5cac0a5e41d 86 //mu1.checkDistance(); //call checkDistance() as much as possible, as this is where
nibab 0:a5cac0a5e41d 87 //the class checks if dist needs to be called.
nibab 0:a5cac0a5e41d 88
nibab 0:a5cac0a5e41d 89 int sum1 = 0, sum2 = 0;
nibab 0:a5cac0a5e41d 90 for(int i = 0; i < 50; i++){ // Average over 10 times
nibab 0:a5cac0a5e41d 91 sum1 += mu1.getCurrentDistance();
nibab 0:a5cac0a5e41d 92 sum2 += mu2.getCurrentDistance();
nibab 0:a5cac0a5e41d 93 }
nibab 0:a5cac0a5e41d 94 X = sum1/50;
nibab 0:a5cac0a5e41d 95 Y = sum2/50;
nibab 0:a5cac0a5e41d 96 //printf("X is %dmm\r\n", X);
nibab 0:a5cac0a5e41d 97 //printf("Y is %dmm\r\n", Y);
nibab 0:a5cac0a5e41d 98 //wait(0.1);
nibab 0:a5cac0a5e41d 99 }
nibab 4:5c1de47812db 100 */
nibab 0:a5cac0a5e41d 101
nibab 0:a5cac0a5e41d 102 int localization::getX(){
nibab 0:a5cac0a5e41d 103 return X;
nibab 0:a5cac0a5e41d 104 }
nibab 0:a5cac0a5e41d 105
nibab 0:a5cac0a5e41d 106 int localization::getY(){
nibab 0:a5cac0a5e41d 107 return Y;
nibab 0:a5cac0a5e41d 108 }