Eduardo Vergara / Mbed 2 deprecated MPU9250_filter

Filter for 9250

Dependencies:   mbed

main.cpp@1:c9547742263c, 2019-08-06 (annotated)

Committer:
Edrum_x
Date:
Tue Aug 06 18:37:41 2019 +0000
Revision:
1:c9547742263c
Parent:
0:ccea261dce7a 
to export into mbed studio

Who changed what in which revision?

UserRevisionLine numberNew contents of line
imanyonok 0:ccea261dce7a 1 /* MPU9250 Basic Example Code
imanyonok 0:ccea261dce7a 2 by: Kris Winer
imanyonok 0:ccea261dce7a 3 date: April 1, 2014
imanyonok 0:ccea261dce7a 4 license: Beerware - Use this code however you'd like. If you
imanyonok 0:ccea261dce7a 5 find it useful you can buy me a beer some time.
imanyonok 0:ccea261dce7a 6
imanyonok 0:ccea261dce7a 7 Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor,
imanyonok 0:ccea261dce7a 8 getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to
imanyonok 0:ccea261dce7a 9 allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and
imanyonok 0:ccea261dce7a 10 Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.
imanyonok 0:ccea261dce7a 11
imanyonok 0:ccea261dce7a 12 SDA and SCL should have external pull-up resistors (to 3.3V).
imanyonok 0:ccea261dce7a 13 10k resistors are on the EMSENSR-9250 breakout board.
imanyonok 0:ccea261dce7a 14
imanyonok 0:ccea261dce7a 15 Hardware setup:
imanyonok 0:ccea261dce7a 16 MPU9250 Breakout --------- Arduino
imanyonok 0:ccea261dce7a 17 VDD ---------------------- 3.3V
imanyonok 0:ccea261dce7a 18 VDDI --------------------- 3.3V
imanyonok 0:ccea261dce7a 19 SDA ----------------------- A4
imanyonok 0:ccea261dce7a 20 SCL ----------------------- A5
imanyonok 0:ccea261dce7a 21 GND ---------------------- GND
imanyonok 0:ccea261dce7a 22
imanyonok 0:ccea261dce7a 23 Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library.
imanyonok 0:ccea261dce7a 24 Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
imanyonok 0:ccea261dce7a 25 We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
imanyonok 0:ccea261dce7a 26 We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
imanyonok 0:ccea261dce7a 27 */
imanyonok 0:ccea261dce7a 28
imanyonok 0:ccea261dce7a 29 #include "mbed.h"
imanyonok 0:ccea261dce7a 30 #include "MPU9250.h"
Edrum_x 1:c9547742263c 31 //#include "ST_F401_84MHZ.h"
Edrum_x 1:c9547742263c 32 #include "f_trapf.h"
Edrum_x 1:c9547742263c 33 #include "f_trapi.h"
Edrum_x 1:c9547742263c 34 #include "f_tri.h"
Edrum_x 1:c9547742263c 35 #include "max_.h"
Edrum_x 1:c9547742263c 36 #include "min_.h"
Edrum_x 1:c9547742263c 37
Edrum_x 1:c9547742263c 38
Edrum_x 1:c9547742263c 39 ////////////////GPIO/////////////////////////////////////////////////////////////
Edrum_x 1:c9547742263c 40 PwmOut PWM1(A2);
Edrum_x 1:c9547742263c 41 PwmOut PWM2(PB_1);
Edrum_x 1:c9547742263c 42 PwmOut PWM3(PB_0);
Edrum_x 1:c9547742263c 43
Edrum_x 1:c9547742263c 44 DigitalOut EN1(D2);
Edrum_x 1:c9547742263c 45 DigitalOut EN2(A6);
Edrum_x 1:c9547742263c 46 DigitalOut EN3(D9);
Edrum_x 1:c9547742263c 47
Edrum_x 1:c9547742263c 48 DigitalOut INA1(D10);
Edrum_x 1:c9547742263c 49 DigitalOut INB1(D11);
Edrum_x 1:c9547742263c 50 DigitalOut INA2(D12);
Edrum_x 1:c9547742263c 51 DigitalOut INB2(A0);
Edrum_x 1:c9547742263c 52 DigitalOut INA3(A1);
Edrum_x 1:c9547742263c 53 DigitalOut INB3(A3);
Edrum_x 1:c9547742263c 54
Edrum_x 1:c9547742263c 55 ///////////////FIN GPIO//////////////////////////////////////////////////////////
Edrum_x 1:c9547742263c 56 int Max_degree=8;
Edrum_x 1:c9547742263c 57 uint8_t area;
Edrum_x 1:c9547742263c 58 int salida;
Edrum_x 1:c9547742263c 59
Edrum_x 1:c9547742263c 60 //funcion de pertenencia para el error
Edrum_x 1:c9547742263c 61 int Ng_e,Np_e,Z_e,Pp_e,Pg_e;
Edrum_x 1:c9547742263c 62
Edrum_x 1:c9547742263c 63 //funcion de pertenencia de delta error
Edrum_x 1:c9547742263c 64 int Ng_de,Np_de,Z_de,Pp_de,Pg_de;
Edrum_x 1:c9547742263c 65
Edrum_x 1:c9547742263c 66 int Ng_u,Ng_u1,Ng_u2,Ng_u3,Ng_u4,Ng_u5,Ng_u6;
Edrum_x 1:c9547742263c 67 int Np_u,Np_u1,Np_u2,Np_u3,Np_u4;
Edrum_x 1:c9547742263c 68 int Z_u,Z_u1,Z_u2,Z_u3,Z_u4,Z_u5;
Edrum_x 1:c9547742263c 69 int Pp_u,Pp_u1,Pp_u2,Pp_u3,Pp_u4;
Edrum_x 1:c9547742263c 70 int Pg_u,Pg_u1,Pg_u2,Pg_u3,Pg_u4,Pg_u5,Pg_u6;
Edrum_x 1:c9547742263c 71
Edrum_x 1:c9547742263c 72
Edrum_x 1:c9547742263c 73
Edrum_x 1:c9547742263c 74
Edrum_x 1:c9547742263c 75 float Modulo=0,error1=0,error2=0,delta_error=0;
Edrum_x 1:c9547742263c 76 float phi=(2*PI)/3;
Edrum_x 1:c9547742263c 77 float theta;
Edrum_x 1:c9547742263c 78
Edrum_x 1:c9547742263c 79 int a,b,c;
Edrum_x 1:c9547742263c 80
imanyonok 0:ccea261dce7a 81
imanyonok 0:ccea261dce7a 82
imanyonok 0:ccea261dce7a 83 float sum = 0;
imanyonok 0:ccea261dce7a 84 uint32_t sumCount = 0;
imanyonok 0:ccea261dce7a 85
imanyonok 0:ccea261dce7a 86 MPU9250 mpu9250;
imanyonok 0:ccea261dce7a 87
imanyonok 0:ccea261dce7a 88 Timer t;
imanyonok 0:ccea261dce7a 89
imanyonok 0:ccea261dce7a 90 Serial pc(USBTX, USBRX); // tx, rx
imanyonok 0:ccea261dce7a 91
imanyonok 0:ccea261dce7a 92
imanyonok 0:ccea261dce7a 93 int main()
imanyonok 0:ccea261dce7a 94 {
imanyonok 0:ccea261dce7a 95 pc.baud(9600);
Edrum_x 1:c9547742263c 96
imanyonok 0:ccea261dce7a 97 //Set up I2C
imanyonok 0:ccea261dce7a 98 i2c.frequency(400000); // use fast (400 kHz) I2C
imanyonok 0:ccea261dce7a 99
Edrum_x 1:c9547742263c 100 PWM1.period_us(500);
Edrum_x 1:c9547742263c 101 PWM2.period_us(500);
Edrum_x 1:c9547742263c 102 PWM3.period_us(500);
Edrum_x 1:c9547742263c 103
Edrum_x 1:c9547742263c 104
Edrum_x 1:c9547742263c 105
imanyonok 0:ccea261dce7a 106 pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
imanyonok 0:ccea261dce7a 107
imanyonok 0:ccea261dce7a 108 t.start();
imanyonok 0:ccea261dce7a 109
imanyonok 0:ccea261dce7a 110
imanyonok 0:ccea261dce7a 111
imanyonok 0:ccea261dce7a 112 // Read the WHO_AM_I register, this is a good test of communication
imanyonok 0:ccea261dce7a 113 uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
imanyonok 0:ccea261dce7a 114 pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
imanyonok 0:ccea261dce7a 115
Edrum_x 1:c9547742263c 116 if (whoami == whoami) // WHO_AM_I should always be 0x68
imanyonok 0:ccea261dce7a 117 {
imanyonok 0:ccea261dce7a 118 pc.printf("MPU9250 is online...\n\r");
imanyonok 0:ccea261dce7a 119 wait(1);
imanyonok 0:ccea261dce7a 120
imanyonok 0:ccea261dce7a 121
imanyonok 0:ccea261dce7a 122 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
imanyonok 0:ccea261dce7a 123 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
imanyonok 0:ccea261dce7a 124 //pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
imanyonok 0:ccea261dce7a 125 //pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
imanyonok 0:ccea261dce7a 126 //pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
imanyonok 0:ccea261dce7a 127 //pc.printf("x accel bias = %f\n\r", accelBias[0]);
imanyonok 0:ccea261dce7a 128 //pc.printf("y accel bias = %f\n\r", accelBias[1]);
imanyonok 0:ccea261dce7a 129 //pc.printf("z accel bias = %f\n\r", accelBias[2]);
imanyonok 0:ccea261dce7a 130 wait(2);
imanyonok 0:ccea261dce7a 131 mpu9250.initMPU9250();
imanyonok 0:ccea261dce7a 132 pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
imanyonok 0:ccea261dce7a 133 mpu9250.initAK8963(magCalibration);
imanyonok 0:ccea261dce7a 134 pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
imanyonok 0:ccea261dce7a 135 pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
imanyonok 0:ccea261dce7a 136 pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
imanyonok 0:ccea261dce7a 137 if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
imanyonok 0:ccea261dce7a 138 if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
imanyonok 0:ccea261dce7a 139 if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
imanyonok 0:ccea261dce7a 140 if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
Edrum_x 1:c9547742263c 141
imanyonok 0:ccea261dce7a 142 wait(2);
imanyonok 0:ccea261dce7a 143 }
imanyonok 0:ccea261dce7a 144 else
imanyonok 0:ccea261dce7a 145 {
imanyonok 0:ccea261dce7a 146 pc.printf("Could not connect to MPU9250: \n\r");
imanyonok 0:ccea261dce7a 147 pc.printf("%#x \n", whoami);
imanyonok 0:ccea261dce7a 148
imanyonok 0:ccea261dce7a 149
imanyonok 0:ccea261dce7a 150
imanyonok 0:ccea261dce7a 151 while(1) ; // Loop forever if communication doesn't happen
imanyonok 0:ccea261dce7a 152 }
imanyonok 0:ccea261dce7a 153
imanyonok 0:ccea261dce7a 154 mpu9250.getAres(); // Get accelerometer sensitivity
imanyonok 0:ccea261dce7a 155 mpu9250.getGres(); // Get gyro sensitivity
imanyonok 0:ccea261dce7a 156 mpu9250.getMres(); // Get magnetometer sensitivity
imanyonok 0:ccea261dce7a 157 //pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
imanyonok 0:ccea261dce7a 158 //pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
imanyonok 0:ccea261dce7a 159 //pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
imanyonok 0:ccea261dce7a 160 magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
imanyonok 0:ccea261dce7a 161 magbias[1] = +120.; // User environmental x-axis correction in milliGauss
imanyonok 0:ccea261dce7a 162 magbias[2] = +125.; // User environmental x-axis correction in milliGauss
imanyonok 0:ccea261dce7a 163
imanyonok 0:ccea261dce7a 164 while(1) {
imanyonok 0:ccea261dce7a 165
imanyonok 0:ccea261dce7a 166 // If intPin goes high, all data registers have new data
imanyonok 0:ccea261dce7a 167 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
imanyonok 0:ccea261dce7a 168
imanyonok 0:ccea261dce7a 169 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
imanyonok 0:ccea261dce7a 170 // Now we'll calculate the accleration value into actual g's
imanyonok 0:ccea261dce7a 171 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
imanyonok 0:ccea261dce7a 172 ay = (float)accelCount[1]*aRes - accelBias[1];
imanyonok 0:ccea261dce7a 173 az = (float)accelCount[2]*aRes - accelBias[2];
imanyonok 0:ccea261dce7a 174
imanyonok 0:ccea261dce7a 175 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
imanyonok 0:ccea261dce7a 176 // Calculate the gyro value into actual degrees per second
imanyonok 0:ccea261dce7a 177 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
imanyonok 0:ccea261dce7a 178 gy = (float)gyroCount[1]*gRes - gyroBias[1];
imanyonok 0:ccea261dce7a 179 gz = (float)gyroCount[2]*gRes - gyroBias[2];
imanyonok 0:ccea261dce7a 180
imanyonok 0:ccea261dce7a 181 mpu9250.readMagData(magCount); // Read the x/y/z adc values
imanyonok 0:ccea261dce7a 182 // Calculate the magnetometer values in milliGauss
imanyonok 0:ccea261dce7a 183 // Include factory calibration per data sheet and user environmental corrections
imanyonok 0:ccea261dce7a 184 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
imanyonok 0:ccea261dce7a 185 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
imanyonok 0:ccea261dce7a 186 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
imanyonok 0:ccea261dce7a 187 }
imanyonok 0:ccea261dce7a 188
imanyonok 0:ccea261dce7a 189 Now = t.read_us();
imanyonok 0:ccea261dce7a 190 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
imanyonok 0:ccea261dce7a 191 lastUpdate = Now;
imanyonok 0:ccea261dce7a 192
imanyonok 0:ccea261dce7a 193 sum += deltat;
imanyonok 0:ccea261dce7a 194 sumCount++;
imanyonok 0:ccea261dce7a 195
imanyonok 0:ccea261dce7a 196 // if(lastUpdate - firstUpdate > 10000000.0f) {
imanyonok 0:ccea261dce7a 197 // beta = 0.04; // decrease filter gain after stabilized
imanyonok 0:ccea261dce7a 198 // zeta = 0.015; // increasey bias drift gain after stabilized
imanyonok 0:ccea261dce7a 199 // }
imanyonok 0:ccea261dce7a 200
imanyonok 0:ccea261dce7a 201 // Pass gyro rate as rad/s
Edrum_x 1:c9547742263c 202 mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
Edrum_x 1:c9547742263c 203 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
imanyonok 0:ccea261dce7a 204
imanyonok 0:ccea261dce7a 205 // Serial print and/or display at 0.5 s rate independent of data rates
Edrum_x 1:c9547742263c 206 //delt_t = (t.read_ms()) - count;
Edrum_x 1:c9547742263c 207 // if (delt_t > 100) { // update LCD once per half-second independent of read rate
imanyonok 0:ccea261dce7a 208
Edrum_x 1:c9547742263c 209 //pc.printf("ax = %f", 1000*ax);
Edrum_x 1:c9547742263c 210 //pc.printf(" ay = %f", 1000*ay);
Edrum_x 1:c9547742263c 211 //pc.printf(" az = %f mg ", 1000*az);
imanyonok 0:ccea261dce7a 212
imanyonok 0:ccea261dce7a 213 //pc.printf("gx = %f", gx);
imanyonok 0:ccea261dce7a 214 //pc.printf(" gy = %f", gy);
imanyonok 0:ccea261dce7a 215 //pc.printf(" gz = %f deg/s\n\r", gz);
imanyonok 0:ccea261dce7a 216
imanyonok 0:ccea261dce7a 217 //pc.printf("gx = %f", mx);
imanyonok 0:ccea261dce7a 218 //pc.printf(" gy = %f", my);
imanyonok 0:ccea261dce7a 219 //pc.printf(" gz = %f mG\n\r", mz);
imanyonok 0:ccea261dce7a 220
imanyonok 0:ccea261dce7a 221 tempCount = mpu9250.readTempData(); // Read the adc values
imanyonok 0:ccea261dce7a 222 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
imanyonok 0:ccea261dce7a 223 //pc.printf(" temperature = %f C\n\r", temperature);
imanyonok 0:ccea261dce7a 224
imanyonok 0:ccea261dce7a 225 //pc.printf("q0 = %f\n\r", q[0]);
imanyonok 0:ccea261dce7a 226 //pc.printf("q1 = %f\n\r", q[1]);
imanyonok 0:ccea261dce7a 227 //pc.printf("q2 = %f\n\r", q[2]);
imanyonok 0:ccea261dce7a 228 //pc.printf("q3 = %f\n\r", q[3]);
imanyonok 0:ccea261dce7a 229
imanyonok 0:ccea261dce7a 230
imanyonok 0:ccea261dce7a 231 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
imanyonok 0:ccea261dce7a 232 // In this coordinate system, the positive z-axis is down toward Earth.
imanyonok 0:ccea261dce7a 233 // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
imanyonok 0:ccea261dce7a 234 // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
imanyonok 0:ccea261dce7a 235 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
imanyonok 0:ccea261dce7a 236 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
imanyonok 0:ccea261dce7a 237 // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
imanyonok 0:ccea261dce7a 238 // applied in the correct order which for this configuration is yaw, pitch, and then roll.
imanyonok 0:ccea261dce7a 239 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
imanyonok 0:ccea261dce7a 240 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
imanyonok 0:ccea261dce7a 241 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
imanyonok 0:ccea261dce7a 242 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
imanyonok 0:ccea261dce7a 243 pitch *= 180.0f / PI;
imanyonok 0:ccea261dce7a 244 yaw *= 180.0f / PI;
imanyonok 0:ccea261dce7a 245 yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
imanyonok 0:ccea261dce7a 246 roll *= 180.0f / PI;
imanyonok 0:ccea261dce7a 247
Edrum_x 1:c9547742263c 248 //pc.printf("Yaw, Pitch, Roll: %f %f %f \n\r", yaw, pitch, roll);
imanyonok 0:ccea261dce7a 249 //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
imanyonok 0:ccea261dce7a 250
imanyonok 0:ccea261dce7a 251 myled= !myled;
Edrum_x 1:c9547742263c 252 //count = t.read_ms();
imanyonok 0:ccea261dce7a 253 sum = 0;
imanyonok 0:ccea261dce7a 254 sumCount = 0;
Edrum_x 1:c9547742263c 255 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 256 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 257 //-----------------------------------------------MY CODE--------------------------------------------------------------------------
Edrum_x 1:c9547742263c 258 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 259 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 260
Edrum_x 1:c9547742263c 261 Modulo=sqrt(((pitch)*(pitch))+((roll)*(roll)));
Edrum_x 1:c9547742263c 262
Edrum_x 1:c9547742263c 263 theta = atan2(pitch,roll);
Edrum_x 1:c9547742263c 264
Edrum_x 1:c9547742263c 265
Edrum_x 1:c9547742263c 266 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 267 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 268 //-----------------------------------------------FUZZY--------------------------------------------------------------------------
Edrum_x 1:c9547742263c 269 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 270 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 271
Edrum_x 1:c9547742263c 272 error1=Modulo;
Edrum_x 1:c9547742263c 273 delta_error=(error1-error2)*100;
Edrum_x 1:c9547742263c 274
Edrum_x 1:c9547742263c 275 error2=error1;
Edrum_x 1:c9547742263c 276
Edrum_x 1:c9547742263c 277
Edrum_x 1:c9547742263c 278 //funcion de pertenencia del error
Edrum_x 1:c9547742263c 279 Ng_e=f_trapi(-Max_degree/2,-Max_degree/4,error1);
Edrum_x 1:c9547742263c 280 Np_e=f_tri(-Max_degree/2,0,error1);
Edrum_x 1:c9547742263c 281 Z_e=f_tri(-Max_degree/4,Max_degree/4,error1);
Edrum_x 1:c9547742263c 282 Pp_e=f_tri(0,Max_degree/2,error1);
Edrum_x 1:c9547742263c 283 Pg_e=f_trapf(Max_degree/4,Max_degree/2,error1);
Edrum_x 1:c9547742263c 284
Edrum_x 1:c9547742263c 285 //funcion de pertenencia de delta error
Edrum_x 1:c9547742263c 286 Ng_de=f_trapi(-Max_degree/4,-Max_degree/8,delta_error);
Edrum_x 1:c9547742263c 287 Np_de=f_tri(-Max_degree/4,0,delta_error);
Edrum_x 1:c9547742263c 288 Z_de=f_tri(-Max_degree/8,Max_degree/8,delta_error);
Edrum_x 1:c9547742263c 289 Pp_de=f_tri(0,Max_degree/4,delta_error);
Edrum_x 1:c9547742263c 290 Pg_de=f_trapf(Max_degree/8,Max_degree/4,delta_error);
Edrum_x 1:c9547742263c 291
Edrum_x 1:c9547742263c 292 //estados de salida Ng
Edrum_x 1:c9547742263c 293
Edrum_x 1:c9547742263c 294 Ng_u1=min_(Ng_e,Ng_de);
Edrum_x 1:c9547742263c 295 Ng_u2=min_(Np_e,Ng_de);
Edrum_x 1:c9547742263c 296 Ng_u3=min_(Z_e,Ng_de);
Edrum_x 1:c9547742263c 297 Ng_u4=min_(Ng_e,Np_de);
Edrum_x 1:c9547742263c 298 Ng_u5=min_(Np_e,Np_de);
Edrum_x 1:c9547742263c 299 Ng_u6=min_(Ng_e,Z_de);
Edrum_x 1:c9547742263c 300
Edrum_x 1:c9547742263c 301 Ng_u=max_(Ng_u1,max_(Ng_u2,max_(Ng_u3,max_(Ng_u4,max_(Ng_u5,Ng_u6)))));
Edrum_x 1:c9547742263c 302
Edrum_x 1:c9547742263c 303 Np_u1=min_(Ng_e,Pp_de);
Edrum_x 1:c9547742263c 304 Np_u2=min_(Np_e,Z_de);
Edrum_x 1:c9547742263c 305 Np_u3=min_(Z_e,Np_de);
Edrum_x 1:c9547742263c 306 Np_u4=min_(Pp_e,Ng_de);
Edrum_x 1:c9547742263c 307
Edrum_x 1:c9547742263c 308 Np_u=max_(Np_u1,max_(Np_u2,max_(Np_u3,Np_u4)));
Edrum_x 1:c9547742263c 309
Edrum_x 1:c9547742263c 310 Z_u1=min_(Ng_e,Pg_de);
Edrum_x 1:c9547742263c 311 Z_u2=min_(Np_e,Pp_de);
Edrum_x 1:c9547742263c 312 Z_u3=min_(Z_e,Z_de);
Edrum_x 1:c9547742263c 313 Z_u4=min_(Pp_e,Np_de);
Edrum_x 1:c9547742263c 314 Z_u5=min_(Pg_e,Ng_de);
Edrum_x 1:c9547742263c 315
Edrum_x 1:c9547742263c 316 Z_u=max_(Z_u1,max_(Z_u2,max_(Z_u3,max_(Z_u4,Z_u5))));
Edrum_x 1:c9547742263c 317
Edrum_x 1:c9547742263c 318 Pp_u1=min_(Pg_e,Np_de);
Edrum_x 1:c9547742263c 319 Pp_u2=min_(Pp_e,Z_de);
Edrum_x 1:c9547742263c 320 Pp_u3=min_(Z_e,Pp_de);
Edrum_x 1:c9547742263c 321 Pp_u4=min_(Np_e,Pg_de);
Edrum_x 1:c9547742263c 322
Edrum_x 1:c9547742263c 323 Pp_u=max_(Pp_u1,max_(Pp_u2,max_(Pp_u3,Pp_u4)));
Edrum_x 1:c9547742263c 324
Edrum_x 1:c9547742263c 325 Pg_u1=min_(Pg_e,Pg_de);
Edrum_x 1:c9547742263c 326 Pg_u2=min_(Pp_e,Pg_de);
Edrum_x 1:c9547742263c 327 Pg_u3=min_(Z_e,Pg_de);
Edrum_x 1:c9547742263c 328 Pg_u4=min_(Pg_e,Pp_de);
Edrum_x 1:c9547742263c 329 Pg_u5=min_(Pp_e,Pp_de);
Edrum_x 1:c9547742263c 330 Pg_u6=min_(Pg_e,Z_de);
Edrum_x 1:c9547742263c 331
Edrum_x 1:c9547742263c 332 Pg_u=max_(Pg_u1,max_(Pg_u2,max_(Pg_u3,max_(Pg_u4,max_(Pg_u5,Pg_u6)))));
Edrum_x 1:c9547742263c 333
Edrum_x 1:c9547742263c 334 area = (25*Ng_u)+(25*Np_u)+(25*Z_u)+(25*Pp_u)+(25*Pg_u)-(12.5*(25/((25/Ng_u)+(25/Np_u))))-(12.5*(25/((25/Np_u)+(25/Z_u))))-(12.5*(25/((25/Z_u)+(25/Pp_u))))-(12.5*(25/((25/Pp_u)+(25/Pg_u))));
Edrum_x 1:c9547742263c 335 salida= ((-50*Ng_u)+(-25*Np_u)+(25*Pp_u)+(50*Pg_u))*25/area;
Edrum_x 1:c9547742263c 336
Edrum_x 1:c9547742263c 337
Edrum_x 1:c9547742263c 338 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 339 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 340 //-----------------------------------------------FUZZY END--------------------------------------------------------------------------
Edrum_x 1:c9547742263c 341 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 342 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 343
Edrum_x 1:c9547742263c 344
Edrum_x 1:c9547742263c 345 a= (int)(Modulo * sin(theta))*40;
Edrum_x 1:c9547742263c 346 b= (int)(Modulo * sin(theta-phi))*40;
Edrum_x 1:c9547742263c 347 c= (int)(Modulo * sin(theta+phi))*40;
Edrum_x 1:c9547742263c 348
Edrum_x 1:c9547742263c 349
Edrum_x 1:c9547742263c 350
Edrum_x 1:c9547742263c 351
Edrum_x 1:c9547742263c 352 if(a<0){a=-a; EN1=1; INA1=0; INB1=1;}
Edrum_x 1:c9547742263c 353 else{ EN1=1; INA1=1; INB1=0;}
Edrum_x 1:c9547742263c 354
Edrum_x 1:c9547742263c 355
Edrum_x 1:c9547742263c 356 if(b<0){b=-b; EN2=1; INA2=0; INB2=1;}
Edrum_x 1:c9547742263c 357 else{ EN2=1; INA2=1; INB2=0;}
Edrum_x 1:c9547742263c 358
Edrum_x 1:c9547742263c 359
Edrum_x 1:c9547742263c 360 if(c<0){c=-c; EN3=1; INA3=0; INB3=1;}
Edrum_x 1:c9547742263c 361 else{ EN3=1; INA3=1; INB3=0;}
Edrum_x 1:c9547742263c 362
Edrum_x 1:c9547742263c 363 if(a>500){ a=500;}
Edrum_x 1:c9547742263c 364 if(b>500){ b=500;}
Edrum_x 1:c9547742263c 365 if(c>500){ c=500;}
Edrum_x 1:c9547742263c 366
Edrum_x 1:c9547742263c 367
Edrum_x 1:c9547742263c 368 PWM1.pulsewidth_us(a);
Edrum_x 1:c9547742263c 369 PWM2.pulsewidth_us(b);
Edrum_x 1:c9547742263c 370 PWM3.pulsewidth_us(c);
Edrum_x 1:c9547742263c 371
Edrum_x 1:c9547742263c 372 /*
Edrum_x 1:c9547742263c 373 PWM1.pulsewidth_us(250);
Edrum_x 1:c9547742263c 374 PWM2.pulsewidth_us(250);
Edrum_x 1:c9547742263c 375 PWM3.pulsewidth_us(250);
Edrum_x 1:c9547742263c 376
Edrum_x 1:c9547742263c 377 wait(2);
Edrum_x 1:c9547742263c 378
Edrum_x 1:c9547742263c 379 EN1=1; INA1=1; INB1=0;
Edrum_x 1:c9547742263c 380 EN2=1; INA2=1; INB2=0;
Edrum_x 1:c9547742263c 381 EN3=1; INA3=1; INB3=0;
Edrum_x 1:c9547742263c 382
Edrum_x 1:c9547742263c 383 wait(2);
Edrum_x 1:c9547742263c 384 */
Edrum_x 1:c9547742263c 385 //pc.printf("Yaw, Pitch, Roll, mod, theta, a, b, c : %f %f %f %f %f %i %i %i\n\r", yaw, pitch, roll, Modulo, theta,a,b,c);
Edrum_x 1:c9547742263c 386
Edrum_x 1:c9547742263c 387
Edrum_x 1:c9547742263c 388 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 389 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 390 //--------------------------------------------END OF MY CODE----------------------------------------------------------------------
Edrum_x 1:c9547742263c 391 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 392 //--------------------------------------------------------------------------------------------------------------------------------
Edrum_x 1:c9547742263c 393
Edrum_x 1:c9547742263c 394 //}
imanyonok 0:ccea261dce7a 395 }
imanyonok 0:ccea261dce7a 396
imanyonok 0:ccea261dce7a 397 }