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
Diff: main.cpp
- Revision:
- 1:2ae94169eee6
- Parent:
- 0:40b56bdec1d2
- Child:
- 2:f9f4d36c2367
diff -r 40b56bdec1d2 -r 2ae94169eee6 main.cpp --- a/main.cpp Tue Jul 14 10:45:54 2015 +0000 +++ b/main.cpp Fri Jul 17 12:21:14 2015 +0000 @@ -1,45 +1,36 @@ #include "mbed.h" #include "MPU6050.h" #include "ledControl.h" -#include "brushlessController_L293D.h" - -/* Defined in the MPU6050.cpp file */ -// I2C i2c(p9,p10); // setup i2c (SDA,SCL) +#include "brushlessController_TB6612FNG.h" -Serial ftdi(p13,p14); // default baud rate: 9600 -MPU6050 mpu6050; // class: MPU6050, object: mpu6050 -Ticker toggler1; -Ticker filter; +Serial pc(USBTX, USBRX); // Create terminal link +MPU6050 mpu6050; // mpu6050 object from MPU6050 classs +Ticker toggler1; // Ticker for led toggling +Ticker filter; // Ticker for periodic call to compFilter funcçs +/* Function prototypes */ void toggle_led1(); void toggle_led2(); -void complementaryFilter(float* pitch, float* roll); void compFilter(); float pitchAngle = 0; float rollAngle = 0; -int prevStep = 0; // previous step for the brushless motor -int errorMargin = 6; // error margin in degrees for stabilizing the gimbal system -int setPoint = 0; // set point in degrees for the gimbal system +int errorMargin = 8; // error margin in degrees for stabilizing the gimbal system +int setPoint = -30; // set point in degrees for the gimbal system -int main() +int main() { - ftdi.baud(9600); // baud rate: 9600 - i2c.frequency(400000); // fast i2c: 400 kHz - mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading - // wait(1); - mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers - ftdi.printf("Calibration is completed. \r\n"); - // wait(0.5); - mpu6050.init(); // Initialize the sensor - // wait(1); - ftdi.printf("MPU6050 is initialized for operation.. \r\n\r\n"); - // wait_ms(500); + pc.baud(9600); // baud rate: 9600 + i2c.frequency(400000); // fast i2c: 400 kHz + mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading + mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers + pc.printf("Calibration is completed. \r\n"); + mpu6050.init(); // Initialize the sensor + pc.printf("MPU6050 is initialized for operation.. \r\n\r\n"); - while(1) + filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) + while(1) { - filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) - if (abs(rollAngle - setPoint) < errorMargin) { // Do not move if above statement is true @@ -47,52 +38,19 @@ } else if(rollAngle > setPoint) { - oneStep(0,30, &prevStep); + brushlessControl(1, 500); led4 = 0; } else { - oneStep(1,30, &prevStep); + brushlessControl(0, 500); led4 = 0; } - wait_ms(5); // wait for new rollAngle data to arrive - } + } } void toggle_led1() {ledToggle(1);} void toggle_led2() {ledToggle(2);} /* This function is created to avoid address error that caused from Ticker.attach func */ -void compFilter() {complementaryFilter(&pitchAngle, &rollAngle);} - -void complementaryFilter(float* pitch, float* roll) -{ - /* Get actual acc value */ - mpu6050.readAccelData(accelData); - mpu6050.getAres(); - ax = accelData[0]*aRes - accelBias[0]; - ay = accelData[1]*aRes - accelBias[1]; - az = accelData[2]*aRes - accelBias[2]; - - /* Get actual gyro value */ - mpu6050.readGyroData(gyroData); - mpu6050.getGres(); - gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i] - gy = gyroData[1]*gRes; // - gyroBias[1]; - gz = gyroData[2]*gRes; // - gyroBias[2]; - - float pitchAcc, rollAcc; - - /* Integrate the gyro data(deg/s) over time to get angle */ - *pitch += gx * dt; // Angle around the X-axis - *roll -= gy * dt; // Angle around the Y-axis - - /* Turning around the X-axis results in a vector on the Y-axis - whereas turning around the Y-axis results in a vector on the X-axis. */ - pitchAcc = atan2f((float)accelData[1], (float)accelData[2])*180/PI; - rollAcc = atan2f((float)accelData[0], (float)accelData[2])*180/PI; - - /* Apply Complementary Filter */ - *pitch = *pitch * 0.98 + pitchAcc * 0.02; - *roll = *roll * 0.98 + rollAcc * 0.02; -} \ No newline at end of file +void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);} \ No newline at end of file