DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
LOCALIZE.cpp@19:2dd81b864e14, 2016-04-03 (annotated)
- Committer:
- 12104404
- Date:
- Sun Apr 03 05:48:37 2016 +0000
- Revision:
- 19:2dd81b864e14
- Parent:
- 15:7729da55873a
- Child:
- 20:10a305298e27
Cleaning up code;
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 | 19:2dd81b864e14 | 3 | DigitalOut _led1(LED1); |
12104404 | 19:2dd81b864e14 | 4 | DigitalOut _led2(LED2); |
12104404 | 19:2dd81b864e14 | 5 | DigitalOut _led3(LED3); |
12104404 | 19:2dd81b864e14 | 6 | DigitalOut _led4(LED4); |
12104404 | 13:c62f975dfcfe | 7 | |
12104404 | 15:7729da55873a | 8 | LOCALIZE::LOCALIZE (I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset, PinName sw1, PinName sw2, PinName sw3, PinName sw4): |
12104404 | 15:7729da55873a | 9 | _y_i2c(y_i2c), _x_imu_i2c(x_imu_i2c), _imu(x_imu_i2c, imu_reset), _sw1(sw1), _sw2(sw2), _sw3(sw3), _sw4(sw4) |
12104404 | 13:c62f975dfcfe | 10 | { |
12104404 | 15:7729da55873a | 11 | _sw1.mode(PullUp); |
12104404 | 15:7729da55873a | 12 | _sw2.mode(PullUp); |
12104404 | 15:7729da55873a | 13 | _sw3.mode(PullUp); |
12104404 | 15:7729da55873a | 14 | _sw4.mode(PullUp); |
12104404 | 13:c62f975dfcfe | 15 | } |
12104404 | 0:96d6eb224379 | 16 | |
12104404 | 0:96d6eb224379 | 17 | int LOCALIZE::init (void) |
12104404 | 0:96d6eb224379 | 18 | { |
12104404 | 0:96d6eb224379 | 19 | if(_imu.chip_ready()==0) |
12104404 | 0:96d6eb224379 | 20 | return ERROR_IMU; |
12104404 | 0:96d6eb224379 | 21 | _imu.set_mounting_position(MT_P0); |
12104404 | 19:2dd81b864e14 | 22 | #if defined (IMU_GROUND) |
12104404 | 6:0602a9e8118b | 23 | _imu.change_fusion_mode(MODE_NDOF); |
12104404 | 19:2dd81b864e14 | 24 | #else |
12104404 | 19:2dd81b864e14 | 25 | _imu.change_fusion_mode(MODE_IMU); |
12104404 | 19:2dd81b864e14 | 26 | #endif |
12104404 | 19:2dd81b864e14 | 27 | |
12104404 | 1:8966a48ce8d5 | 28 | char data[]= {0,0,0}; |
12104404 | 1:8966a48ce8d5 | 29 | if(_x_imu_i2c.read(R_P_ADDR<<1, data, 3)!=0) |
12104404 | 1:8966a48ce8d5 | 30 | return ERROR_RX_P; |
12104404 | 2:634c1adf89b2 | 31 | if(_x_imu_i2c.read(R_N_ADDR<<1, data, 3)!=0) |
12104404 | 2:634c1adf89b2 | 32 | return ERROR_RX_N; |
12104404 | 1:8966a48ce8d5 | 33 | if(_y_i2c.read(R_P_ADDR<<1, data, 3)!=0) |
12104404 | 1:8966a48ce8d5 | 34 | return ERROR_RY_P; |
12104404 | 2:634c1adf89b2 | 35 | if(_y_i2c.read(R_N_ADDR<<1, data, 3)!=0) |
12104404 | 2:634c1adf89b2 | 36 | return ERROR_RY_N; |
12104404 | 0:96d6eb224379 | 37 | return 0; |
12104404 | 0:96d6eb224379 | 38 | } |
12104404 | 0:96d6eb224379 | 39 | |
12104404 | 0:96d6eb224379 | 40 | void LOCALIZE::get_angle(LOCALIZE_xya *xya) |
12104404 | 0:96d6eb224379 | 41 | { |
12104404 | 1:8966a48ce8d5 | 42 | _imu.get_Euler_Angles(&_euler); |
12104404 | 1:8966a48ce8d5 | 43 | _imu.get_gravity(&_gravity); |
12104404 | 0:96d6eb224379 | 44 | unsigned int quad=0; |
12104404 | 1:8966a48ce8d5 | 45 | if(_gravity.y>=0) |
12104404 | 0:96d6eb224379 | 46 | quad&=~1; |
12104404 | 0:96d6eb224379 | 47 | else |
12104404 | 0:96d6eb224379 | 48 | quad|=1; |
12104404 | 1:8966a48ce8d5 | 49 | if(_gravity.x>=0) |
12104404 | 0:96d6eb224379 | 50 | quad&=~(1<<1); |
12104404 | 0:96d6eb224379 | 51 | else |
12104404 | 0:96d6eb224379 | 52 | quad|=(1<<1); |
12104404 | 0:96d6eb224379 | 53 | quad&=3; |
12104404 | 0:96d6eb224379 | 54 | switch(quad) { |
12104404 | 0:96d6eb224379 | 55 | case 0: |
12104404 | 1:8966a48ce8d5 | 56 | _angle=_euler.p; |
12104404 | 0:96d6eb224379 | 57 | break; |
12104404 | 0:96d6eb224379 | 58 | case 1: |
12104404 | 1:8966a48ce8d5 | 59 | _angle=180-_euler.p; |
12104404 | 0:96d6eb224379 | 60 | break; |
12104404 | 0:96d6eb224379 | 61 | case 2: |
12104404 | 1:8966a48ce8d5 | 62 | _angle=360+_euler.p; |
12104404 | 0:96d6eb224379 | 63 | break; |
12104404 | 0:96d6eb224379 | 64 | case 3: |
12104404 | 1:8966a48ce8d5 | 65 | _angle=180+abs(_euler.p); |
12104404 | 0:96d6eb224379 | 66 | break; |
12104404 | 0:96d6eb224379 | 67 | default: |
12104404 | 1:8966a48ce8d5 | 68 | _angle=-1; |
12104404 | 0:96d6eb224379 | 69 | break; |
12104404 | 0:96d6eb224379 | 70 | } |
12104404 | 19:2dd81b864e14 | 71 | #if defined (IMU_GROUND) |
12104404 | 6:0602a9e8118b | 72 | xya->a=_euler.h; |
12104404 | 19:2dd81b864e14 | 73 | #else |
12104404 | 19:2dd81b864e14 | 74 | xya->a=_angle; |
12104404 | 19:2dd81b864e14 | 75 | #endif |
12104404 | 8:b36be08c44f8 | 76 | _xya.a=xya->a; |
12104404 | 0:96d6eb224379 | 77 | } |
12104404 | 1:8966a48ce8d5 | 78 | |
12104404 | 1:8966a48ce8d5 | 79 | void LOCALIZE::get_xy(LOCALIZE_xya *xya) |
12104404 | 1:8966a48ce8d5 | 80 | { |
12104404 | 3:c58eb4be51de | 81 | int _rx, _ry; |
12104404 | 3:c58eb4be51de | 82 | get_raw_xy(); |
12104404 | 1:8966a48ce8d5 | 83 | get_angle(xya); |
12104404 | 13:c62f975dfcfe | 84 | ledSw(); |
12104404 | 1:8966a48ce8d5 | 85 | if(_xya.a<R_ERROR || _xya.a>360-R_ERROR) { |
12104404 | 19:2dd81b864e14 | 86 | _rx=_rx_p<_rx_n && _rx_p>UR_DEADZONE ? _rx_p : FRAME_W-RX_OFF-_rx_n; |
12104404 | 19:2dd81b864e14 | 87 | _ry=_ry_p<_ry_n && _ry_p>UR_DEADZONE ? _ry_p : FRAME_H-RY_OFF-_ry_n; |
12104404 | 15:7729da55873a | 88 | if(!_sw1 && !_sw2) |
12104404 | 13:c62f975dfcfe | 89 | _rx=RX_OFF; |
12104404 | 15:7729da55873a | 90 | else if(!_sw3 && !_sw4) |
12104404 | 13:c62f975dfcfe | 91 | _rx=FRAME_W-RX_OFF; |
12104404 | 9:4fc5d70c3bab | 92 | } else if(abs(_xya.a-270)<R_ERROR) { |
12104404 | 19:2dd81b864e14 | 93 | _rx=_ry_p<_ry_n && _ry_p>UR_DEADZONE ? _ry_p : FRAME_W-RY_OFF-_ry_n; |
12104404 | 19:2dd81b864e14 | 94 | _ry=_rx_p<_rx_n && _rx_p>UR_DEADZONE ? FRAME_H-RX_OFF-_rx_p : _rx_n; |
12104404 | 15:7729da55873a | 95 | if(!_sw1 && !_sw2) |
12104404 | 13:c62f975dfcfe | 96 | _ry=FRAME_H-RY_OFF; |
12104404 | 15:7729da55873a | 97 | else if(!_sw3 && !_sw4) |
12104404 | 13:c62f975dfcfe | 98 | _ry=RY_OFF; |
12104404 | 1:8966a48ce8d5 | 99 | } else if(abs(_xya.a-180)<R_ERROR) { |
12104404 | 19:2dd81b864e14 | 100 | _rx=_rx_p<_rx_n && _rx_p>UR_DEADZONE ? FRAME_W-RX_OFF-_rx_p : _rx_n; |
12104404 | 19:2dd81b864e14 | 101 | _ry=_ry_p<_ry_n && _ry_p>UR_DEADZONE ? FRAME_H-RY_OFF-_ry_p : _ry_n; |
12104404 | 15:7729da55873a | 102 | if(!_sw1 && !_sw2) |
12104404 | 13:c62f975dfcfe | 103 | _rx=FRAME_W-RX_OFF; |
12104404 | 15:7729da55873a | 104 | else if(!_sw3 && !_sw4) |
12104404 | 13:c62f975dfcfe | 105 | _rx=RX_OFF; |
12104404 | 9:4fc5d70c3bab | 106 | } else if(abs(_xya.a-90)<R_ERROR) { |
12104404 | 19:2dd81b864e14 | 107 | _rx=_ry_p<_ry_n && _ry_p>UR_DEADZONE ? FRAME_W-RY_OFF-_ry_p : _ry_n; |
12104404 | 19:2dd81b864e14 | 108 | _ry=_rx_p<_rx_n && _rx_p>UR_DEADZONE ? _rx_p : FRAME_H-RX_OFF-_rx_n; |
12104404 | 15:7729da55873a | 109 | if(!_sw1 && !_sw2) |
12104404 | 13:c62f975dfcfe | 110 | _ry=RY_OFF; |
12104404 | 15:7729da55873a | 111 | else if(!_sw3 && !_sw4) |
12104404 | 13:c62f975dfcfe | 112 | _ry=FRAME_H-RY_OFF; |
12104404 | 1:8966a48ce8d5 | 113 | } else { |
12104404 | 19:2dd81b864e14 | 114 | //error last value |
12104404 | 13:c62f975dfcfe | 115 | _rx=_xya.x; |
12104404 | 13:c62f975dfcfe | 116 | _ry=_xya.x; |
12104404 | 1:8966a48ce8d5 | 117 | } |
12104404 | 1:8966a48ce8d5 | 118 | _xya.x=_rx; |
12104404 | 1:8966a48ce8d5 | 119 | _xya.y=_ry; |
12104404 | 1:8966a48ce8d5 | 120 | xya->x=_xya.x; |
12104404 | 1:8966a48ce8d5 | 121 | xya->y=_xya.y; |
12104404 | 1:8966a48ce8d5 | 122 | } |
12104404 | 1:8966a48ce8d5 | 123 | |
12104404 | 3:c58eb4be51de | 124 | void LOCALIZE::get_raw_xy(void) |
12104404 | 3:c58eb4be51de | 125 | { |
12104404 | 3:c58eb4be51de | 126 | char data[]= {0,0,0}; |
12104404 | 3:c58eb4be51de | 127 | _x_imu_i2c.read(R_P_ADDR<<1, data, 3); |
12104404 | 4:d70375cfa533 | 128 | wait(R_WAIT); |
12104404 | 8:b36be08c44f8 | 129 | _rx_n=data[1]; |
12104404 | 3:c58eb4be51de | 130 | _x_imu_i2c.read(R_N_ADDR<<1, data, 3); |
12104404 | 4:d70375cfa533 | 131 | wait(R_WAIT); |
12104404 | 8:b36be08c44f8 | 132 | _rx_p=data[1]; |
12104404 | 3:c58eb4be51de | 133 | _y_i2c.read(R_P_ADDR<<1, data, 3); |
12104404 | 4:d70375cfa533 | 134 | wait(R_WAIT); |
12104404 | 8:b36be08c44f8 | 135 | _ry_n=data[1]; |
12104404 | 3:c58eb4be51de | 136 | _y_i2c.read(R_N_ADDR<<1, data, 3); |
12104404 | 4:d70375cfa533 | 137 | wait(R_WAIT); |
12104404 | 8:b36be08c44f8 | 138 | _ry_p=data[1]; |
12104404 | 13:c62f975dfcfe | 139 | } |
12104404 | 13:c62f975dfcfe | 140 | |
12104404 | 13:c62f975dfcfe | 141 | void LOCALIZE::ledSw(void) |
12104404 | 13:c62f975dfcfe | 142 | { |
12104404 | 19:2dd81b864e14 | 143 | _led1=!_sw1; |
12104404 | 19:2dd81b864e14 | 144 | _led2=!_sw2; |
12104404 | 19:2dd81b864e14 | 145 | _led3=!_sw3; |
12104404 | 19:2dd81b864e14 | 146 | _led4=!_sw4; |
12104404 | 10:cf44f4387bc7 | 147 | } |