Edwin Cho / Mbed 2 deprecated FLOW_DERP

DERPS

Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of STRAIGHT_DRIVE_NO_SEP by Antoine Laurens

LOCALIZE.cpp@4:d70375cfa533, 2016-03-04 (annotated)

Committer:
12104404
Date:
Fri Mar 04 03:02:36 2016 +0000
Revision:
4:d70375cfa533
Parent:
3:c58eb4be51de
Child:
5:c89308dc1827
added N P;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 0:96d6eb224379 1 #include "LOCALIZE.h"
12104404 0:96d6eb224379 2
12104404 0:96d6eb224379 3 LOCALIZE::LOCALIZE (I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset):
12104404 4:d70375cfa533 4 _y_i2c(y_i2c), _x_imu_i2c(x_imu_i2c), _imu(x_imu_i2c, imu_reset) {}
12104404 0:96d6eb224379 5
12104404 0:96d6eb224379 6 int LOCALIZE::init (void)
12104404 0:96d6eb224379 7 {
12104404 0:96d6eb224379 8 if(_imu.chip_ready()==0)
12104404 0:96d6eb224379 9 return ERROR_IMU;
12104404 0:96d6eb224379 10 _imu.set_mounting_position(MT_P0);
12104404 0:96d6eb224379 11 _imu.change_fusion_mode(MODE_IMU);
12104404 1:8966a48ce8d5 12 char data[]= {0,0,0};
12104404 1:8966a48ce8d5 13 if(_x_imu_i2c.read(R_P_ADDR<<1, data, 3)!=0)
12104404 1:8966a48ce8d5 14 return ERROR_RX_P;
12104404 2:634c1adf89b2 15 if(_x_imu_i2c.read(R_N_ADDR<<1, data, 3)!=0)
12104404 2:634c1adf89b2 16 return ERROR_RX_N;
12104404 1:8966a48ce8d5 17 if(_y_i2c.read(R_P_ADDR<<1, data, 3)!=0)
12104404 1:8966a48ce8d5 18 return ERROR_RY_P;
12104404 2:634c1adf89b2 19 if(_y_i2c.read(R_N_ADDR<<1, data, 3)!=0)
12104404 2:634c1adf89b2 20 return ERROR_RY_N;
12104404 0:96d6eb224379 21 return 0;
12104404 0:96d6eb224379 22 }
12104404 0:96d6eb224379 23
12104404 0:96d6eb224379 24 void LOCALIZE::get_angle(LOCALIZE_xya *xya)
12104404 0:96d6eb224379 25 {
12104404 1:8966a48ce8d5 26 _imu.get_Euler_Angles(&_euler);
12104404 1:8966a48ce8d5 27 _imu.get_gravity(&_gravity);
12104404 0:96d6eb224379 28 unsigned int quad=0;
12104404 1:8966a48ce8d5 29 if(_gravity.y>=0)
12104404 0:96d6eb224379 30 quad&=~1;
12104404 0:96d6eb224379 31 else
12104404 0:96d6eb224379 32 quad|=1;
12104404 1:8966a48ce8d5 33 if(_gravity.x>=0)
12104404 0:96d6eb224379 34 quad&=~(1<<1);
12104404 0:96d6eb224379 35 else
12104404 0:96d6eb224379 36 quad|=(1<<1);
12104404 0:96d6eb224379 37 quad&=3;
12104404 0:96d6eb224379 38 switch(quad) {
12104404 0:96d6eb224379 39 case 0:
12104404 1:8966a48ce8d5 40 _angle=_euler.p;
12104404 0:96d6eb224379 41 break;
12104404 0:96d6eb224379 42 case 1:
12104404 1:8966a48ce8d5 43 _angle=180-_euler.p;
12104404 0:96d6eb224379 44 break;
12104404 0:96d6eb224379 45 case 2:
12104404 1:8966a48ce8d5 46 _angle=360+_euler.p;
12104404 0:96d6eb224379 47 break;
12104404 0:96d6eb224379 48 case 3:
12104404 1:8966a48ce8d5 49 _angle=180+abs(_euler.p);
12104404 0:96d6eb224379 50 break;
12104404 0:96d6eb224379 51 default:
12104404 1:8966a48ce8d5 52 _angle=-1;
12104404 0:96d6eb224379 53 break;
12104404 0:96d6eb224379 54 }
12104404 1:8966a48ce8d5 55 _xya.a=_angle;
12104404 1:8966a48ce8d5 56 xya->a=_xya.a;
12104404 0:96d6eb224379 57 }
12104404 1:8966a48ce8d5 58
12104404 1:8966a48ce8d5 59 void LOCALIZE::get_xy(LOCALIZE_xya *xya)
12104404 1:8966a48ce8d5 60 {
12104404 3:c58eb4be51de 61 int _rx, _ry;
12104404 3:c58eb4be51de 62 get_raw_xy();
12104404 1:8966a48ce8d5 63 get_angle(xya);
12104404 1:8966a48ce8d5 64 if(_xya.a<R_ERROR || _xya.a>360-R_ERROR) {
12104404 4:d70375cfa533 65 _rx=_rx_p<_rx_n ? _rx_p : FRAME_W-RX_OFF-_rx_n;
12104404 4:d70375cfa533 66 _ry=_ry_p<_ry_n ? _ry_p : FRAME_H-RY_OFF-_ry_n;
12104404 1:8966a48ce8d5 67 } else if(abs(_xya.a-90)<R_ERROR) {
12104404 4:d70375cfa533 68 _rx=_ry_p<_ry_n ? _ry_p : FRAME_W-RY_OFF-_ry_n;
12104404 4:d70375cfa533 69 _ry=_rx_p<_rx_n ? FRAME_H-RX_OFF-_rx_p : _rx_n;
12104404 1:8966a48ce8d5 70 } else if(abs(_xya.a-180)<R_ERROR) {
12104404 4:d70375cfa533 71 _rx=_rx_p<_rx_n ? FRAME_W-RX_OFF-_rx_p : _rx_n;
12104404 4:d70375cfa533 72 _ry=_ry_p<_ry_n ? FRAME_H-RY_OFF-_ry_p : _ry_n;
12104404 1:8966a48ce8d5 73 } else if(abs(_xya.a-270)<R_ERROR) {
12104404 4:d70375cfa533 74 _rx=_ry_p<_ry_n ? FRAME_W-RY_OFF-_ry_p : _ry_n;
12104404 4:d70375cfa533 75 _ry=_rx_p<_rx_n ? _rx_p : FRAME_H-RX_OFF-_rx_n;
12104404 1:8966a48ce8d5 76 } else {
12104404 4:d70375cfa533 77 //error
12104404 1:8966a48ce8d5 78 _rx=_rx_p;
12104404 1:8966a48ce8d5 79 _ry=_ry_p;
12104404 1:8966a48ce8d5 80 }
12104404 1:8966a48ce8d5 81 _xya.x=_rx;
12104404 1:8966a48ce8d5 82 _xya.y=_ry;
12104404 1:8966a48ce8d5 83 xya->x=_xya.x;
12104404 1:8966a48ce8d5 84 xya->y=_xya.y;
12104404 1:8966a48ce8d5 85 }
12104404 1:8966a48ce8d5 86
12104404 3:c58eb4be51de 87 void LOCALIZE::get_raw_xy(void)
12104404 3:c58eb4be51de 88 {
12104404 3:c58eb4be51de 89 char data[]= {0,0,0};
12104404 3:c58eb4be51de 90 _x_imu_i2c.read(R_P_ADDR<<1, data, 3);
12104404 4:d70375cfa533 91 wait(R_WAIT);
12104404 3:c58eb4be51de 92 _rx_p=data[1];
12104404 3:c58eb4be51de 93 _x_imu_i2c.read(R_N_ADDR<<1, data, 3);
12104404 4:d70375cfa533 94 wait(R_WAIT);
12104404 3:c58eb4be51de 95 _rx_n=data[1];
12104404 3:c58eb4be51de 96 _y_i2c.read(R_P_ADDR<<1, data, 3);
12104404 4:d70375cfa533 97 wait(R_WAIT);
12104404 3:c58eb4be51de 98 _ry_p=data[1];
12104404 3:c58eb4be51de 99 _y_i2c.read(R_N_ADDR<<1, data, 3);
12104404 4:d70375cfa533 100 wait(R_WAIT);
12104404 3:c58eb4be51de 101 _ry_n=data[1];
12104404 3:c58eb4be51de 102 }