This is a one axis gimbal control program that takes roll angle from an IMU and moves the gimbal brushless motor accordingly.
Dependencies: MPU6050 brushlessController_TB6612FNG ledControl2 mbed
main.cpp@1:2ae94169eee6, 2015-07-17 (annotated)
- Committer:
- BaserK
- Date:
- Fri Jul 17 12:21:14 2015 +0000
- Revision:
- 1:2ae94169eee6
- Parent:
- 0:40b56bdec1d2
- Child:
- 2:f9f4d36c2367
gimbalController works fine but it can be perfect after a PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BaserK | 0:40b56bdec1d2 | 1 | #include "mbed.h" |
BaserK | 0:40b56bdec1d2 | 2 | #include "MPU6050.h" |
BaserK | 0:40b56bdec1d2 | 3 | #include "ledControl.h" |
BaserK | 1:2ae94169eee6 | 4 | #include "brushlessController_TB6612FNG.h" |
BaserK | 0:40b56bdec1d2 | 5 | |
BaserK | 1:2ae94169eee6 | 6 | Serial pc(USBTX, USBRX); // Create terminal link |
BaserK | 1:2ae94169eee6 | 7 | MPU6050 mpu6050; // mpu6050 object from MPU6050 classs |
BaserK | 1:2ae94169eee6 | 8 | Ticker toggler1; // Ticker for led toggling |
BaserK | 1:2ae94169eee6 | 9 | Ticker filter; // Ticker for periodic call to compFilter funcçs |
BaserK | 0:40b56bdec1d2 | 10 | |
BaserK | 1:2ae94169eee6 | 11 | /* Function prototypes */ |
BaserK | 0:40b56bdec1d2 | 12 | void toggle_led1(); |
BaserK | 0:40b56bdec1d2 | 13 | void toggle_led2(); |
BaserK | 0:40b56bdec1d2 | 14 | void compFilter(); |
BaserK | 0:40b56bdec1d2 | 15 | |
BaserK | 0:40b56bdec1d2 | 16 | float pitchAngle = 0; |
BaserK | 0:40b56bdec1d2 | 17 | float rollAngle = 0; |
BaserK | 1:2ae94169eee6 | 18 | int errorMargin = 8; // error margin in degrees for stabilizing the gimbal system |
BaserK | 1:2ae94169eee6 | 19 | int setPoint = -30; // set point in degrees for the gimbal system |
BaserK | 0:40b56bdec1d2 | 20 | |
BaserK | 1:2ae94169eee6 | 21 | int main() |
BaserK | 0:40b56bdec1d2 | 22 | { |
BaserK | 1:2ae94169eee6 | 23 | pc.baud(9600); // baud rate: 9600 |
BaserK | 1:2ae94169eee6 | 24 | i2c.frequency(400000); // fast i2c: 400 kHz |
BaserK | 1:2ae94169eee6 | 25 | mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading |
BaserK | 1:2ae94169eee6 | 26 | mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers |
BaserK | 1:2ae94169eee6 | 27 | pc.printf("Calibration is completed. \r\n"); |
BaserK | 1:2ae94169eee6 | 28 | mpu6050.init(); // Initialize the sensor |
BaserK | 1:2ae94169eee6 | 29 | pc.printf("MPU6050 is initialized for operation.. \r\n\r\n"); |
BaserK | 0:40b56bdec1d2 | 30 | |
BaserK | 1:2ae94169eee6 | 31 | filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) |
BaserK | 1:2ae94169eee6 | 32 | while(1) |
BaserK | 0:40b56bdec1d2 | 33 | { |
BaserK | 0:40b56bdec1d2 | 34 | if (abs(rollAngle - setPoint) < errorMargin) |
BaserK | 0:40b56bdec1d2 | 35 | { |
BaserK | 0:40b56bdec1d2 | 36 | // Do not move if above statement is true |
BaserK | 0:40b56bdec1d2 | 37 | led4 = 1; |
BaserK | 0:40b56bdec1d2 | 38 | } |
BaserK | 0:40b56bdec1d2 | 39 | else if(rollAngle > setPoint) |
BaserK | 0:40b56bdec1d2 | 40 | { |
BaserK | 1:2ae94169eee6 | 41 | brushlessControl(1, 500); |
BaserK | 0:40b56bdec1d2 | 42 | led4 = 0; |
BaserK | 0:40b56bdec1d2 | 43 | } |
BaserK | 0:40b56bdec1d2 | 44 | else |
BaserK | 0:40b56bdec1d2 | 45 | { |
BaserK | 1:2ae94169eee6 | 46 | brushlessControl(0, 500); |
BaserK | 0:40b56bdec1d2 | 47 | led4 = 0; |
BaserK | 0:40b56bdec1d2 | 48 | } |
BaserK | 1:2ae94169eee6 | 49 | } |
BaserK | 0:40b56bdec1d2 | 50 | } |
BaserK | 0:40b56bdec1d2 | 51 | |
BaserK | 0:40b56bdec1d2 | 52 | void toggle_led1() {ledToggle(1);} |
BaserK | 0:40b56bdec1d2 | 53 | void toggle_led2() {ledToggle(2);} |
BaserK | 0:40b56bdec1d2 | 54 | |
BaserK | 0:40b56bdec1d2 | 55 | /* This function is created to avoid address error that caused from Ticker.attach func */ |
BaserK | 1:2ae94169eee6 | 56 | void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);} |