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:
- 4:a041b7b5720b
- Parent:
- 3:065a064b3453
- Child:
- 5:477eaa33eff5
diff -r 065a064b3453 -r a041b7b5720b main.cpp --- a/main.cpp Tue Jul 21 06:35:34 2015 +0000 +++ b/main.cpp Tue Jul 21 08:17:56 2015 +0000 @@ -2,8 +2,28 @@ * * @author: Baser Kandehir * @date: July 17, 2015 -* @license: Use this code however you'd like -* +* @license: MIT license +* +* Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr +* +* Permission is hereby granted, free of charge, to any person obtaining a copy +* of this software and associated documentation files (the "Software"), to deal +* in the Software without restriction, including without limitation the rights +* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +* copies of the Software, and to permit persons to whom the Software is +* furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in +* all copies or substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +* THE SOFTWARE. +* * @description of the program: * * This a one axis gimbal control program that takes roll angle from an IMU @@ -43,7 +63,7 @@ float Kp = 1; float Ki = 0; float Kd = 0; -float set_point = -90; // which angle camera should stay +float set_point = -45; // which angle camera should stay float errorMargin = 2; // error margin in degress float proportional = 0; float last_proportional =0;