servo_tread + imu
Dependencies: Servo mbed-rtos mbed
Fork of Turtlecase by
main.cpp
- Committer:
- worasuchad
- Date:
- 2018-02-20
- Revision:
- 1:5609c1795245
- Parent:
- 0:812929a5d5ad
File content as of revision 1:5609c1795245:
////////////////////////////////////////////////////////////////// // 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 "rtos.h" Serial pc(USBTX, USBRX); 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(D8); Servo Servo4(D9); /* int pos_up_start; int pos_up_end; int pos_down_start; int pos_down_end;*/ int pos_down_start = 1400; int pos_down_end = 1600; int pos_up_start = 1000; int pos_up_end = 1600; ///////////////////////// prototype func /////////////////////// ////////////////////////////////////////////////////////////////// void myservoLeft(); void myservoRight(); void IMU(); ///////////////////////// 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()) { case '1': pos_down_start = 1400; pos_down_end = 1700; pos_up_start = 1000; pos_up_end = 1700; break; case '2': pos_down_start = 1400; pos_down_end = 1600; pos_up_start = 1000; pos_up_end = 1600; break; case '3': pos_down_start = 1400; pos_down_end = 1650; pos_up_start = 1000; pos_up_end = 1500; break; case '4': pos_down_start = 1400; pos_down_end = 1700; pos_up_start = 1000; pos_up_end = 1650; break; case '5': pos_down_start = 1400; pos_down_end = 1600; pos_up_start = 1000; pos_up_end = 1550; break; } printf("position down motor start = %d\n", pos_down_start); 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); 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; } } }