Revision 1:2ae94169eee6, committed 2015-07-17

Comitter:

BaserK

Date:

Fri Jul 17 12:21:14 2015 +0000

Parent:

0:40b56bdec1d2

Child:

2:f9f4d36c2367

Commit message:

gimbalController works fine but it can be perfect after a PID

Changed in this revision

--- a/MPU6050.lib	Tue Jul 14 10:45:54 2015 +0000
+++ b/MPU6050.lib	Fri Jul 17 12:21:14 2015 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/BaserK/code/MPU6050/#a248e65a25cc
+https://developer.mbed.org/users/BaserK/code/MPU6050/#3e0dfce73a58

--- a/brushlessController_L293D.lib	Tue Jul 14 10:45:54 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-brushlessController_L293D#ac825be76379

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/brushlessController_TB6612FNG.lib	Fri Jul 17 12:21:14 2015 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/BaserK/code/brushlessController_TB6612FNG/#b52603b6a822

--- 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