TurtleBot
servo_tread + imu
Dependencies: Servo mbed-rtos mbed
Fork of
Turtlecase
by 
TurtleBot
Diff: main.cpp
- Revision:
- 1:5609c1795245
- Parent:
- 0:812929a5d5ad
--- a/main.cpp Fri Feb 09 15:59:52 2018 +0000
+++ b/main.cpp Tue Feb 20 11:06:35 2018 +0000
@@ -1,85 +1,72 @@
+//////////////////////////////////////////////////////////////////
+// project: TurtleBot Project //
+// code v.: 1.0 //
+// board : NUCLEO-F303KB //
+// date : 20/2/2018 //
+// code by: Coding on Earth by Humans //
+//////////////////////////////////////////////////////////////////
+
+///////////////////////// init ////////////////////////////////
+//////////////////////////////////////////////////////////////////
#include "mbed.h"
-#include "Servo.h"
#include "rtos.h"
Serial pc(USBTX, USBRX);
-
-Servo Servo1(D7);
+
+Thread thread1; //control servo left
+Thread thread2; //control servo right
+Thread thread3; //read data from IMU
+
+///////////////////////// IMU ////////////////////////////////
+//////////////////////////////////////////////////////////////////
+#include "MPU9250.h"
+
+float sum = 0;
+uint32_t sumCount = 0;
+char buffer[14];
+float origin = 0;
+
+MPU9250 mpu9250;
+Timer t;
+
+
+///////////////////////// Servo ////////////////////////////////
+//////////////////////////////////////////////////////////////////
+#include "Servo.h"
+Servo Servo1(D10);
Servo Servo2(D6);
-Servo Servo3(D9);
-Servo Servo4(D8);
-Thread thread;
-
+Servo Servo3(D8);
+Servo Servo4(D9);
+/*
int pos_up_start;
int pos_up_end;
int pos_down_start;
-int pos_down_end;
+int pos_down_end;*/
-void myservoright_thread() {
- for(int n = 0; n <= 5; n += 1){
- Servo3.Enable(1000,20000);
- Servo4.Disable();
- for (int pos = pos_down_start; pos <= pos_down_end; pos += 5) {
- Servo3.SetPosition(pos);
- wait(0.01);
- }
- Servo4.Enable(1000,20000);
- Servo3.Disable();
- for (int pos = pos_up_start; pos <= pos_up_end; pos += 5) {
- Servo4.SetPosition(pos);
- wait(0.01);
- }
- Servo3.Enable(1000,20000);
- Servo4.Disable();
- for (int pos = pos_down_end; pos >= pos_down_start; pos -= 5) {
- Servo3.SetPosition(pos);
- wait(0.01);
- }
- Servo4.Enable(1000,20000);
- Servo3.Disable();
- for (int pos = pos_up_end; pos >= pos_up_start; pos -= 5) {
- Servo4.SetPosition(pos);
- wait(0.01);
- }
- }
-}
+int pos_down_start = 1400;
+int pos_down_end = 1600;
+int pos_up_start = 1000;
+int pos_up_end = 1600;
-void turtlewalk(int pos_down_start,int pos_down_end,int pos_up_start,int pos_up_end){
- for(int n = 0; n <= 5; n += 1){
- Servo1.Enable(1000,20000);
- Servo2.Disable();
- thread.start(myservoright_thread);
- for (int pos = pos_down_start; pos <= pos_down_end; pos += 5) {
- Servo1.SetPosition(pos);
- wait(0.01);
- }
- Servo2.Enable(1000,20000);
- Servo1.Disable();
- for (int pos = pos_up_start; pos <= pos_up_end; pos += 5) {
- Servo2.SetPosition(pos);
- wait(0.01);
- }
- Servo1.Enable(1000,20000);
- Servo2.Disable();
- for (int pos = pos_down_end; pos >= pos_down_start; pos -= 5) {
- Servo1.SetPosition(pos);
- wait(0.01);
- }
- Servo2.Enable(1000,20000);
- Servo1.Disable();
- for (int pos = pos_up_end; pos >= pos_up_start; pos -= 5) {
- Servo2.SetPosition(pos);
- wait(0.01);
- }
- }
-}
+///////////////////////// prototype func ///////////////////////
+//////////////////////////////////////////////////////////////////
+void myservoLeft();
+void myservoRight();
+void IMU();
-int main(){
-
- while(1) {
+///////////////////////// main ////////////////////////////
+//////////////////////////////////////////////////////////////////
+int main()
+{
+ thread1.start(myservoLeft);
+ thread2.start(myservoRight);
+ IMU();
+/* while(1)
+ {
printf("Hello World! Turtlebot is READY\n");
printf("case 1-5\n");
- switch(pc.getc()) {
+ switch(pc.getc())
+ {
case '1':
pos_down_start = 1400;
pos_down_end = 1700;
@@ -115,6 +102,277 @@
printf("position down motor end = %d\n", pos_down_end);
printf("position up motor start = %d\n", pos_up_start);
printf("position up motor end = %d\n", pos_up_end);
- turtlewalk(pos_down_start,pos_down_end,pos_up_start,pos_up_end);
+ thread1.start(myservoLeft);
+ thread2.start(myservoRight);
+ thread3.start(IMU);
+ } */
+}
+
+
+///////////////////////// myservoLeft /////////////////////////
+//////////////////////////////////////////////////////////////////
+void myservoLeft()
+{
+ for(int n = 0; n <= 5; n += 1)
+ {
+ Servo1.Enable(1000,20000);
+ Servo2.Disable();
+
+ for (int pos = pos_down_start; pos <= pos_down_end; pos += 5)
+ {
+ Servo1.SetPosition(pos);
+ wait(0.01);
+ }
+
+ Servo2.Enable(1000,20000);
+ Servo1.Disable();
+
+ for (int pos = pos_up_start; pos <= pos_up_end; pos += 5)
+ {
+ Servo2.SetPosition(pos);
+ wait(0.01);
+ }
+
+ Servo1.Enable(1000,20000);
+ Servo2.Disable();
+
+ for (int pos = pos_down_end; pos >= pos_down_start; pos -= 5)
+ {
+ Servo1.SetPosition(pos);
+ wait(0.01);
+ }
+
+ Servo2.Enable(1000,20000);
+ Servo1.Disable();
+
+ for (int pos = pos_up_end; pos >= pos_up_start; pos -= 5)
+ {
+ Servo2.SetPosition(pos);
+ wait(0.01);
+ }
+ }
+}
+
+///////////////////////// myservoRight ///////////////////////
+//////////////////////////////////////////////////////////////////
+void myservoRight()
+{
+ for(int n = 0; n <= 5; n += 1)
+ {
+ Servo3.Enable(1000,20000);
+ Servo4.Disable();
+
+ for (int pos = pos_down_start; pos <= pos_down_end; pos += 5)
+ {
+ Servo3.SetPosition(pos);
+ wait(0.01);
+ }
+
+ Servo4.Enable(1000,20000);
+ Servo3.Disable();
+
+ for (int pos = pos_up_start; pos <= pos_up_end; pos += 5)
+ {
+ Servo4.SetPosition(pos);
+ wait(0.01);
+ }
+
+ Servo3.Enable(1000,20000);
+ Servo4.Disable();
+
+ for (int pos = pos_down_end; pos >= pos_down_start; pos -= 5)
+ {
+ Servo3.SetPosition(pos);
+ wait(0.01);
+ }
+
+ Servo4.Enable(1000,20000);
+ Servo3.Disable();
+
+ for (int pos = pos_up_end; pos >= pos_up_start; pos -= 5)
+ {
+ Servo4.SetPosition(pos);
+ wait(0.01);
+ }
}
+}
+
+///////////////////////// IMU ///////////////////////
+//////////////////////////////////////////////////////////////////
+void IMU()
+{
+ //Set up I2C
+ i2c.frequency(400000); // use fast (400 kHz) I2C
+
+ //pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+ t.start();
+
+ // 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 0x68\n\r");
+
+ if (whoami == 0x73 ) // 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
+ //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);
+ magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
+ magbias[1] = +120.; // User environmental x-axis correction in milliGauss
+ magbias[2] = +125.; // User environmental x-axis correction in milliGauss
+
+ while(1)
+ {
+ // 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
+ 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;
+
+ 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 (delt_t > 50)
+ { // 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("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
+ //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]);
+ 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("%f %f %f %f \n\r",roll, pitch, yaw, origin);
+ //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+ //sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll);
+ //lcd.printString(buffer, 0, 4);
+ //sprintf(buffer, "rate = %f", (float) sumCount/sum);
+ //lcd.printString(buffer, 0, 5);
+
+ 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;
+ }
+ }
}
\ No newline at end of file