DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
LOCALIZE.cpp@25:f3bf8351bbd4, 2016-04-05 (annotated)
- Committer:
- 12104404
- Date:
- Tue Apr 05 02:30:40 2016 +0000
- Revision:
- 25:f3bf8351bbd4
- Parent:
- 24:fb1f083ebd62
- Child:
- 26:0ea6a550a99d
goood but overshoot bottom missing tol state
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
12104404 | 0:96d6eb224379 | 1 | #include "LOCALIZE.h" |
12104404 | 0:96d6eb224379 | 2 | |
12104404 | 23:455f7da3dd7a | 3 | LOCALIZE::LOCALIZE (I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset, PinName sw1, PinName sw2, PinName sw3, PinName sw4, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4): |
12104404 | 23:455f7da3dd7a | 4 | _y_i2c(y_i2c), _x_imu_i2c(x_imu_i2c), _imu(x_imu_i2c, imu_reset), _sw1(sw1), _sw2(sw2), _sw3(sw3), _sw4(sw4), _led1(led1), _led2(led2), _led3(led3), _led4(led4) |
12104404 | 13:c62f975dfcfe | 5 | { |
12104404 | 15:7729da55873a | 6 | _sw1.mode(PullUp); |
12104404 | 15:7729da55873a | 7 | _sw2.mode(PullUp); |
12104404 | 15:7729da55873a | 8 | _sw3.mode(PullUp); |
12104404 | 15:7729da55873a | 9 | _sw4.mode(PullUp); |
12104404 | 24:fb1f083ebd62 | 10 | _led2=1; |
12104404 | 24:fb1f083ebd62 | 11 | wait(0.01); |
12104404 | 24:fb1f083ebd62 | 12 | _led2=0; |
12104404 | 13:c62f975dfcfe | 13 | } |
12104404 | 0:96d6eb224379 | 14 | |
12104404 | 0:96d6eb224379 | 15 | int LOCALIZE::init (void) |
12104404 | 0:96d6eb224379 | 16 | { |
12104404 | 0:96d6eb224379 | 17 | if(_imu.chip_ready()==0) |
12104404 | 0:96d6eb224379 | 18 | return ERROR_IMU; |
12104404 | 0:96d6eb224379 | 19 | _imu.set_mounting_position(MT_P0); |
12104404 | 19:2dd81b864e14 | 20 | #if defined (IMU_GROUND) |
12104404 | 6:0602a9e8118b | 21 | _imu.change_fusion_mode(MODE_NDOF); |
12104404 | 19:2dd81b864e14 | 22 | #else |
12104404 | 19:2dd81b864e14 | 23 | _imu.change_fusion_mode(MODE_IMU); |
12104404 | 19:2dd81b864e14 | 24 | #endif |
12104404 | 19:2dd81b864e14 | 25 | |
12104404 | 1:8966a48ce8d5 | 26 | char data[]= {0,0,0}; |
12104404 | 1:8966a48ce8d5 | 27 | if(_x_imu_i2c.read(R_P_ADDR<<1, data, 3)!=0) |
12104404 | 1:8966a48ce8d5 | 28 | return ERROR_RX_P; |
12104404 | 2:634c1adf89b2 | 29 | if(_x_imu_i2c.read(R_N_ADDR<<1, data, 3)!=0) |
12104404 | 2:634c1adf89b2 | 30 | return ERROR_RX_N; |
12104404 | 1:8966a48ce8d5 | 31 | if(_y_i2c.read(R_P_ADDR<<1, data, 3)!=0) |
12104404 | 1:8966a48ce8d5 | 32 | return ERROR_RY_P; |
12104404 | 2:634c1adf89b2 | 33 | if(_y_i2c.read(R_N_ADDR<<1, data, 3)!=0) |
12104404 | 2:634c1adf89b2 | 34 | return ERROR_RY_N; |
12104404 | 0:96d6eb224379 | 35 | return 0; |
12104404 | 0:96d6eb224379 | 36 | } |
12104404 | 0:96d6eb224379 | 37 | |
12104404 | 0:96d6eb224379 | 38 | void LOCALIZE::get_angle(LOCALIZE_xya *xya) |
12104404 | 0:96d6eb224379 | 39 | { |
12104404 | 1:8966a48ce8d5 | 40 | _imu.get_Euler_Angles(&_euler); |
12104404 | 1:8966a48ce8d5 | 41 | _imu.get_gravity(&_gravity); |
12104404 | 20:10a305298e27 | 42 | volatile unsigned int quad=0; |
12104404 | 1:8966a48ce8d5 | 43 | if(_gravity.y>=0) |
12104404 | 0:96d6eb224379 | 44 | quad&=~1; |
12104404 | 0:96d6eb224379 | 45 | else |
12104404 | 0:96d6eb224379 | 46 | quad|=1; |
12104404 | 1:8966a48ce8d5 | 47 | if(_gravity.x>=0) |
12104404 | 0:96d6eb224379 | 48 | quad&=~(1<<1); |
12104404 | 0:96d6eb224379 | 49 | else |
12104404 | 0:96d6eb224379 | 50 | quad|=(1<<1); |
12104404 | 0:96d6eb224379 | 51 | quad&=3; |
12104404 | 0:96d6eb224379 | 52 | switch(quad) { |
12104404 | 0:96d6eb224379 | 53 | case 0: |
12104404 | 1:8966a48ce8d5 | 54 | _angle=_euler.p; |
12104404 | 0:96d6eb224379 | 55 | break; |
12104404 | 0:96d6eb224379 | 56 | case 1: |
12104404 | 1:8966a48ce8d5 | 57 | _angle=180-_euler.p; |
12104404 | 0:96d6eb224379 | 58 | break; |
12104404 | 0:96d6eb224379 | 59 | case 2: |
12104404 | 1:8966a48ce8d5 | 60 | _angle=360+_euler.p; |
12104404 | 0:96d6eb224379 | 61 | break; |
12104404 | 0:96d6eb224379 | 62 | case 3: |
12104404 | 1:8966a48ce8d5 | 63 | _angle=180+abs(_euler.p); |
12104404 | 0:96d6eb224379 | 64 | break; |
12104404 | 0:96d6eb224379 | 65 | default: |
12104404 | 1:8966a48ce8d5 | 66 | _angle=-1; |
12104404 | 0:96d6eb224379 | 67 | break; |
12104404 | 0:96d6eb224379 | 68 | } |
12104404 | 19:2dd81b864e14 | 69 | #if defined (IMU_GROUND) |
12104404 | 6:0602a9e8118b | 70 | xya->a=_euler.h; |
12104404 | 19:2dd81b864e14 | 71 | #else |
12104404 | 19:2dd81b864e14 | 72 | xya->a=_angle; |
12104404 | 19:2dd81b864e14 | 73 | #endif |
12104404 | 8:b36be08c44f8 | 74 | _xya.a=xya->a; |
12104404 | 0:96d6eb224379 | 75 | } |
12104404 | 1:8966a48ce8d5 | 76 | |
12104404 | 1:8966a48ce8d5 | 77 | void LOCALIZE::get_xy(LOCALIZE_xya *xya) |
12104404 | 1:8966a48ce8d5 | 78 | { |
12104404 | 3:c58eb4be51de | 79 | int _rx, _ry; |
12104404 | 3:c58eb4be51de | 80 | get_raw_xy(); |
12104404 | 1:8966a48ce8d5 | 81 | get_angle(xya); |
12104404 | 13:c62f975dfcfe | 82 | ledSw(); |
12104404 | 1:8966a48ce8d5 | 83 | if(_xya.a<R_ERROR || _xya.a>360-R_ERROR) { |
12104404 | 25:f3bf8351bbd4 | 84 | _rx=_rx_p<_rx_n? _rx_p : FRAME_W-RX_OFF-_rx_n; |
12104404 | 25:f3bf8351bbd4 | 85 | _ry=_ry_p<_ry_n? _ry_p : FRAME_H-RY_OFF-_ry_n; |
12104404 | 15:7729da55873a | 86 | if(!_sw1 && !_sw2) |
12104404 | 13:c62f975dfcfe | 87 | _rx=RX_OFF; |
12104404 | 15:7729da55873a | 88 | else if(!_sw3 && !_sw4) |
12104404 | 13:c62f975dfcfe | 89 | _rx=FRAME_W-RX_OFF; |
12104404 | 9:4fc5d70c3bab | 90 | } else if(abs(_xya.a-270)<R_ERROR) { |
12104404 | 25:f3bf8351bbd4 | 91 | _rx=_ry_p<_ry_n? _ry_p : FRAME_W-RY_OFF-_ry_n; |
12104404 | 25:f3bf8351bbd4 | 92 | _ry=_rx_p<_rx_n? FRAME_H-RX_OFF-_rx_p : _rx_n; |
12104404 | 15:7729da55873a | 93 | if(!_sw1 && !_sw2) |
12104404 | 13:c62f975dfcfe | 94 | _ry=FRAME_H-RY_OFF; |
12104404 | 15:7729da55873a | 95 | else if(!_sw3 && !_sw4) |
12104404 | 13:c62f975dfcfe | 96 | _ry=RY_OFF; |
12104404 | 1:8966a48ce8d5 | 97 | } else if(abs(_xya.a-180)<R_ERROR) { |
12104404 | 25:f3bf8351bbd4 | 98 | _rx=_rx_p<_rx_n? FRAME_W-RX_OFF-_rx_p : _rx_n; |
12104404 | 25:f3bf8351bbd4 | 99 | _ry=_ry_p<_ry_n? FRAME_H-RY_OFF-_ry_p : _ry_n; |
12104404 | 15:7729da55873a | 100 | if(!_sw1 && !_sw2) |
12104404 | 13:c62f975dfcfe | 101 | _rx=FRAME_W-RX_OFF; |
12104404 | 15:7729da55873a | 102 | else if(!_sw3 && !_sw4) |
12104404 | 13:c62f975dfcfe | 103 | _rx=RX_OFF; |
12104404 | 9:4fc5d70c3bab | 104 | } else if(abs(_xya.a-90)<R_ERROR) { |
12104404 | 25:f3bf8351bbd4 | 105 | _rx=_ry_p<_ry_n? FRAME_W-RY_OFF-_ry_p : _ry_n; |
12104404 | 25:f3bf8351bbd4 | 106 | _ry=_rx_p<_rx_n? _rx_p : FRAME_H-RX_OFF-_rx_n; |
12104404 | 15:7729da55873a | 107 | if(!_sw1 && !_sw2) |
12104404 | 13:c62f975dfcfe | 108 | _ry=RY_OFF; |
12104404 | 15:7729da55873a | 109 | else if(!_sw3 && !_sw4) |
12104404 | 13:c62f975dfcfe | 110 | _ry=FRAME_H-RY_OFF; |
12104404 | 1:8966a48ce8d5 | 111 | } else { |
12104404 | 19:2dd81b864e14 | 112 | //error last value |
12104404 | 13:c62f975dfcfe | 113 | _rx=_xya.x; |
12104404 | 13:c62f975dfcfe | 114 | _ry=_xya.x; |
12104404 | 1:8966a48ce8d5 | 115 | } |
12104404 | 25:f3bf8351bbd4 | 116 | if(abs(_rx-_xya.x)>UR_JUMP && jumpsX<UR_JUMPS) { |
12104404 | 20:10a305298e27 | 117 | _rx=_xya.x; |
12104404 | 25:f3bf8351bbd4 | 118 | jumpsX++; |
12104404 | 20:10a305298e27 | 119 | } |
12104404 | 25:f3bf8351bbd4 | 120 | else |
12104404 | 25:f3bf8351bbd4 | 121 | jumpsX=0; |
12104404 | 25:f3bf8351bbd4 | 122 | if(abs(_ry-_xya.y)>UR_JUMP && jumpsY<UR_JUMPS) { |
12104404 | 20:10a305298e27 | 123 | _ry=_xya.y; |
12104404 | 25:f3bf8351bbd4 | 124 | jumpsY++; |
12104404 | 20:10a305298e27 | 125 | } |
12104404 | 25:f3bf8351bbd4 | 126 | else |
12104404 | 25:f3bf8351bbd4 | 127 | jumpsY=0; |
12104404 | 1:8966a48ce8d5 | 128 | _xya.x=_rx; |
12104404 | 1:8966a48ce8d5 | 129 | _xya.y=_ry; |
12104404 | 1:8966a48ce8d5 | 130 | xya->x=_xya.x; |
12104404 | 1:8966a48ce8d5 | 131 | xya->y=_xya.y; |
12104404 | 1:8966a48ce8d5 | 132 | } |
12104404 | 1:8966a48ce8d5 | 133 | |
12104404 | 3:c58eb4be51de | 134 | void LOCALIZE::get_raw_xy(void) |
12104404 | 3:c58eb4be51de | 135 | { |
12104404 | 3:c58eb4be51de | 136 | char data[]= {0,0,0}; |
12104404 | 3:c58eb4be51de | 137 | _x_imu_i2c.read(R_P_ADDR<<1, data, 3); |
12104404 | 4:d70375cfa533 | 138 | wait(R_WAIT); |
12104404 | 8:b36be08c44f8 | 139 | _rx_n=data[1]; |
12104404 | 3:c58eb4be51de | 140 | _x_imu_i2c.read(R_N_ADDR<<1, data, 3); |
12104404 | 4:d70375cfa533 | 141 | wait(R_WAIT); |
12104404 | 8:b36be08c44f8 | 142 | _rx_p=data[1]; |
12104404 | 3:c58eb4be51de | 143 | _y_i2c.read(R_P_ADDR<<1, data, 3); |
12104404 | 4:d70375cfa533 | 144 | wait(R_WAIT); |
12104404 | 8:b36be08c44f8 | 145 | _ry_n=data[1]; |
12104404 | 3:c58eb4be51de | 146 | _y_i2c.read(R_N_ADDR<<1, data, 3); |
12104404 | 4:d70375cfa533 | 147 | wait(R_WAIT); |
12104404 | 8:b36be08c44f8 | 148 | _ry_p=data[1]; |
12104404 | 13:c62f975dfcfe | 149 | } |
12104404 | 13:c62f975dfcfe | 150 | |
12104404 | 20:10a305298e27 | 151 | inline void LOCALIZE::ledSw(void) |
12104404 | 13:c62f975dfcfe | 152 | { |
12104404 | 19:2dd81b864e14 | 153 | _led1=!_sw1; |
12104404 | 19:2dd81b864e14 | 154 | _led2=!_sw2; |
12104404 | 19:2dd81b864e14 | 155 | _led3=!_sw3; |
12104404 | 19:2dd81b864e14 | 156 | _led4=!_sw4; |
12104404 | 10:cf44f4387bc7 | 157 | } |