Changing about IMU
Dependencies: Servo mbed-rtos mbed
Fork of TurtleBot_V1 by
Diff: main.cpp
- Revision:
- 1:5609c1795245
- Parent:
- 0:812929a5d5ad
- Child:
- 2:d4bd9ff10e8e
--- 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