Weber Yang / Mbed 2 deprecated AGV_test_all

1108

Dependencies:   HC_SR04_Ultrasonic_Library QEI mbed ros_lib_kinetic_weber

Fork of MPU6050IMU by Kris Winer

main.cpp@3:029450d064bb, 2018-11-08 (annotated)

Committer:
WeberYang
Date:
Thu Nov 08 05:41:28 2018 +0000
Revision:
3:029450d064bb
Parent:
1:cea9d83b8636 
1108

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WeberYang 3:029450d064bb 1 #include "mbed.h"
WeberYang 3:029450d064bb 2 #include "config.h"
WeberYang 3:029450d064bb 3 #include "CAN.h"
WeberYang 3:029450d064bb 4 #include "MPU6050.h"
WeberYang 3:029450d064bb 5 #include "ultrasonic.h"
WeberYang 3:029450d064bb 6 #include "QEI.h"
onehorse 0:65aa78c10981 7
WeberYang 3:029450d064bb 8 #include <ros.h>
WeberYang 3:029450d064bb 9 #include <ros/time.h>
WeberYang 3:029450d064bb 10 #include <sensor_msgs/Imu.h>
WeberYang 3:029450d064bb 11 #include <std_msgs/Int16.h>
WeberYang 3:029450d064bb 12 #include <geometry_msgs/Quaternion.h>
WeberYang 3:029450d064bb 13 #include <std_msgs/Bool.h>
WeberYang 3:029450d064bb 14 #include <sensor_msgs/BatteryState.h>
WeberYang 3:029450d064bb 15
WeberYang 3:029450d064bb 16 //=========define function title===================
WeberYang 3:029450d064bb 17 void dmpDataUpdate();
WeberYang 3:029450d064bb 18 bool pcf8574_write(uint8_t data,uint8_t address);
WeberYang 3:029450d064bb 19 bool pcf8574_read(uint8_t* data,uint8_t address);
WeberYang 3:029450d064bb 20 int DO_write(uint8_t value,uint8_t address);
WeberYang 3:029450d064bb 21 int DI_read(uint8_t address);
WeberYang 3:029450d064bb 22 void dist(int distance);
WeberYang 3:029450d064bb 23
WeberYang 3:029450d064bb 24 //=======define pin user definition============
WeberYang 3:029450d064bb 25 I2C dio_i2c(PB_11, PB_10);
WeberYang 3:029450d064bb 26 MPU6050 mpu6050;
WeberYang 3:029450d064bb 27 QEI encoder2( PA_0, PA_1, NC, 1000, QEI::X4_ENCODING);
WeberYang 3:029450d064bb 28 QEI encoder1( PA_8, PA_9, NC, 1000, QEI::X4_ENCODING);
WeberYang 3:029450d064bb 29 Timer t; // timer for polling
WeberYang 3:029450d064bb 30 Ticker IMU_flipper;
WeberYang 3:029450d064bb 31 Ticker Sensor_flipper;
WeberYang 3:029450d064bb 32 ultrasonic dis1(D3, D4, .01, .05, &dist); //Set the trigger pin to D8 and the echo pin to D9
WeberYang 3:029450d064bb 33
WeberYang 3:029450d064bb 34
WeberYang 3:029450d064bb 35 //==============================ROS==================================
WeberYang 3:029450d064bb 36 ros::NodeHandle nh;
WeberYang 3:029450d064bb 37 char frameid[] = "/imu";
WeberYang 3:029450d064bb 38 sensor_msgs::Imu imu_msg;
WeberYang 3:029450d064bb 39 ros::Publisher imu_pub("imu_msgs", &imu_msg);
WeberYang 3:029450d064bb 40 std_msgs::Int16 DI;
WeberYang 3:029450d064bb 41 ros::Publisher DI_pub("DI_pub", &DI);
WeberYang 3:029450d064bb 42
WeberYang 3:029450d064bb 43 geometry_msgs::Vector3 encoder;
WeberYang 3:029450d064bb 44 ros::Publisher Enc_pub("wheel_encoder", &encoder);
WeberYang 3:029450d064bb 45
WeberYang 3:029450d064bb 46 std_msgs::Int16 sonar_msg;
WeberYang 3:029450d064bb 47 ros::Publisher pub_sonar("sonar", &sonar_msg);
WeberYang 3:029450d064bb 48
WeberYang 3:029450d064bb 49 geometry_msgs::Quaternion odom_quat;
onehorse 0:65aa78c10981 50
WeberYang 3:029450d064bb 51 std_msgs::Int16 DO;
WeberYang 3:029450d064bb 52 void DOActionCb(const std_msgs::Int16 &msg){
WeberYang 3:029450d064bb 53 DO_write(msg.data, PCF8574_ADDR_1);
WeberYang 3:029450d064bb 54 }
WeberYang 3:029450d064bb 55 ros::Subscriber<std_msgs::Int16> ACT_sub("DO_data", &DOActionCb);
WeberYang 3:029450d064bb 56 ros::Time current_time,last_time;
WeberYang 3:029450d064bb 57
WeberYang 3:029450d064bb 58 std_msgs::Bool flag_reset_encoder;
WeberYang 3:029450d064bb 59 void reset_encoderCb(const std_msgs::Bool &msg){
WeberYang 3:029450d064bb 60 if (msg.data == 1) {
WeberYang 3:029450d064bb 61 encoder1.reset();
WeberYang 3:029450d064bb 62 encoder2.reset();
WeberYang 3:029450d064bb 63 }
WeberYang 3:029450d064bb 64 }
WeberYang 3:029450d064bb 65 ros::Subscriber<std_msgs::Bool> resetEncoder_sub("resetEncoder", &reset_encoderCb);
WeberYang 3:029450d064bb 66 //======================================================================
WeberYang 3:029450d064bb 67
WeberYang 3:029450d064bb 68 //=========define function ===================
WeberYang 3:029450d064bb 69 bool pcf8574_write(uint8_t data,uint8_t address){
WeberYang 3:029450d064bb 70 return dio_i2c.write(address, (char*) &data, 1, 0) == 0;
WeberYang 3:029450d064bb 71 }
WeberYang 3:029450d064bb 72
WeberYang 3:029450d064bb 73 bool pcf8574_read(uint8_t* data,uint8_t address){
WeberYang 3:029450d064bb 74 return dio_i2c.read(address, (char*) data, 1, 0) == 0;
WeberYang 3:029450d064bb 75 }
WeberYang 3:029450d064bb 76
WeberYang 3:029450d064bb 77 int DO_write(uint8_t value,uint8_t address){
WeberYang 3:029450d064bb 78 int ret;
WeberYang 3:029450d064bb 79
WeberYang 3:029450d064bb 80 ret = pcf8574_write(value,address);
WeberYang 3:029450d064bb 81
WeberYang 3:029450d064bb 82 return ret;
WeberYang 3:029450d064bb 83 }
onehorse 0:65aa78c10981 84
WeberYang 3:029450d064bb 85 int DI_read(uint8_t address){
WeberYang 3:029450d064bb 86 int ret;
WeberYang 3:029450d064bb 87 uint8_t data=0;
WeberYang 3:029450d064bb 88
WeberYang 3:029450d064bb 89 ret = pcf8574_read(&data,address);
WeberYang 3:029450d064bb 90 if(!ret) return -2;
WeberYang 3:029450d064bb 91
WeberYang 3:029450d064bb 92 return data;
WeberYang 3:029450d064bb 93 }
WeberYang 3:029450d064bb 94 void dist(int distance)
WeberYang 3:029450d064bb 95 {
WeberYang 3:029450d064bb 96 sonar_msg.data = distance;
WeberYang 3:029450d064bb 97 pub_sonar.publish( &sonar_msg );
WeberYang 3:029450d064bb 98 }
onehorse 1:cea9d83b8636 99
WeberYang 3:029450d064bb 100 //==========define parameter===================
WeberYang 3:029450d064bb 101 //=======encoder================
WeberYang 3:029450d064bb 102 long _PreviousLeftEncoderCounts = 0;
WeberYang 3:029450d064bb 103 long _PreviousRightEncoderCounts = 0;
WeberYang 3:029450d064bb 104 double x;
WeberYang 3:029450d064bb 105 double y;
WeberYang 3:029450d064bb 106 double th;
WeberYang 3:029450d064bb 107
WeberYang 3:029450d064bb 108 //=======imu_msgs================
WeberYang 3:029450d064bb 109 float sum = 0;
WeberYang 3:029450d064bb 110 uint32_t sumCount = 0;
onehorse 1:cea9d83b8636 111
onehorse 1:cea9d83b8636 112
WeberYang 3:029450d064bb 113 //=======ultrsonic
WeberYang 3:029450d064bb 114 int sonar_count;
WeberYang 3:029450d064bb 115
WeberYang 3:029450d064bb 116
WeberYang 3:029450d064bb 117 //=====================================================
onehorse 1:cea9d83b8636 118 int main()
onehorse 1:cea9d83b8636 119 {
WeberYang 3:029450d064bb 120 //Set up I2C
WeberYang 3:029450d064bb 121 myled = !myled;
WeberYang 3:029450d064bb 122 wait_ms(100);
WeberYang 3:029450d064bb 123 nh.initNode();
WeberYang 3:029450d064bb 124 nh.advertise(imu_pub);
onehorse 1:cea9d83b8636 125
WeberYang 3:029450d064bb 126 nh.advertise(DI_pub);
WeberYang 3:029450d064bb 127 nh.advertise(Enc_pub);
WeberYang 3:029450d064bb 128 nh.advertise(pub_sonar);
WeberYang 3:029450d064bb 129
WeberYang 3:029450d064bb 130 nh.subscribe(ACT_sub);
WeberYang 3:029450d064bb 131 nh.subscribe(resetEncoder_sub);
WeberYang 3:029450d064bb 132 dis1.startUpdates();//start mesuring the distance
onehorse 1:cea9d83b8636 133
WeberYang 3:029450d064bb 134 i2c.frequency(400000); // use fast (400 kHz) I2C
WeberYang 3:029450d064bb 135 IMU_flipper.attach(&dmpDataUpdate, 0.06);
WeberYang 3:029450d064bb 136 t.start();
WeberYang 3:029450d064bb 137
WeberYang 3:029450d064bb 138 // Read the WHO_AM_I register, this is a good test of communication
WeberYang 3:029450d064bb 139 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
WeberYang 3:029450d064bb 140 // pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
WeberYang 3:029450d064bb 141
WeberYang 3:029450d064bb 142 if (whoami == 0x68) // WHO_AM_I should always be 0x68
WeberYang 3:029450d064bb 143 {
WeberYang 3:029450d064bb 144 // pc.printf("MPU6050 is online...");
WeberYang 3:029450d064bb 145 wait(1);
WeberYang 3:029450d064bb 146
WeberYang 3:029450d064bb 147 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
WeberYang 3:029450d064bb 148 wait(1);
onehorse 0:65aa78c10981 149
WeberYang 3:029450d064bb 150 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f)
WeberYang 3:029450d064bb 151 {
WeberYang 3:029450d064bb 152 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
WeberYang 3:029450d064bb 153 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
WeberYang 3:029450d064bb 154 mpu6050.initMPU6050();
WeberYang 3:029450d064bb 155 wait(2);
WeberYang 3:029450d064bb 156 }
WeberYang 3:029450d064bb 157 else
WeberYang 3:029450d064bb 158 {
WeberYang 3:029450d064bb 159 // pc.printf("Device did not the pass self-test!\n\r");
WeberYang 3:029450d064bb 160 }
onehorse 1:cea9d83b8636 161 }
onehorse 1:cea9d83b8636 162 else
onehorse 1:cea9d83b8636 163 {
WeberYang 3:029450d064bb 164 // pc.printf("Could not connect to MPU6050: \n\r");
WeberYang 3:029450d064bb 165 // pc.printf("%#x \n", whoami);
WeberYang 3:029450d064bb 166 while(1) ; // Loop forever if communication doesn't happen
WeberYang 3:029450d064bb 167 }
onehorse 0:65aa78c10981 168
WeberYang 3:029450d064bb 169 while(1)
WeberYang 3:029450d064bb 170 {
WeberYang 3:029450d064bb 171 dis1.checkDistance();
onehorse 0:65aa78c10981 172
WeberYang 3:029450d064bb 173 DI.data = DI_read(PCF8574_ADDR_2);
WeberYang 3:029450d064bb 174 DI_pub.publish( &DI );
onehorse 0:65aa78c10981 175
WeberYang 3:029450d064bb 176 nh.spinOnce();
WeberYang 3:029450d064bb 177 wait_ms(100);
WeberYang 3:029450d064bb 178
onehorse 0:65aa78c10981 179 }
WeberYang 3:029450d064bb 180 }
onehorse 1:cea9d83b8636 181
WeberYang 3:029450d064bb 182 void dmpDataUpdate() {
WeberYang 3:029450d064bb 183 // If data ready bit set, all data registers have new data
WeberYang 3:029450d064bb 184 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01)
WeberYang 3:029450d064bb 185 { // check if data ready interrupt
WeberYang 3:029450d064bb 186 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
WeberYang 3:029450d064bb 187 mpu6050.getAres();
onehorse 0:65aa78c10981 188
WeberYang 3:029450d064bb 189 // Now we'll calculate the accleration value into actual g's
WeberYang 3:029450d064bb 190 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
WeberYang 3:029450d064bb 191 ay = (float)accelCount[1]*aRes - accelBias[1];
WeberYang 3:029450d064bb 192 az = (float)accelCount[2]*aRes - accelBias[2];
WeberYang 3:029450d064bb 193
WeberYang 3:029450d064bb 194 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
WeberYang 3:029450d064bb 195 mpu6050.getGres();
WeberYang 3:029450d064bb 196
WeberYang 3:029450d064bb 197 // Calculate the gyro value into actual degrees per second
WeberYang 3:029450d064bb 198 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
WeberYang 3:029450d064bb 199 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
WeberYang 3:029450d064bb 200 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
onehorse 0:65aa78c10981 201
WeberYang 3:029450d064bb 202 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
WeberYang 3:029450d064bb 203 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
WeberYang 3:029450d064bb 204 }
WeberYang 3:029450d064bb 205 Now = t.read_us();
WeberYang 3:029450d064bb 206 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
WeberYang 3:029450d064bb 207 lastUpdate = Now;
WeberYang 3:029450d064bb 208
WeberYang 3:029450d064bb 209 sum += deltat;
WeberYang 3:029450d064bb 210 sumCount++;
WeberYang 3:029450d064bb 211
WeberYang 3:029450d064bb 212 if(lastUpdate - firstUpdate > 10000000.0f)
WeberYang 3:029450d064bb 213 {
WeberYang 3:029450d064bb 214 beta = 0.04; // decrease filter gain after stabilized
WeberYang 3:029450d064bb 215 zeta = 0.015; // increasey bias drift gain after stabilized
WeberYang 3:029450d064bb 216 }
WeberYang 3:029450d064bb 217
WeberYang 3:029450d064bb 218 // Pass gyro rate as rad/s
WeberYang 3:029450d064bb 219 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
WeberYang 3:029450d064bb 220
WeberYang 3:029450d064bb 221 // Serial print and/or display at 0.5 s rate independent of data rates
WeberYang 3:029450d064bb 222 delt_t = t.read_ms() - count;
WeberYang 3:029450d064bb 223 // update LCD once per half-second independent of read rate
WeberYang 3:029450d064bb 224 yaw = atan2(2.1f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
WeberYang 3:029450d064bb 225 pitch = -asin(2.1f * (q[1] * q[3] - q[0] * q[2]));
WeberYang 3:029450d064bb 226 roll = atan2(2.1f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
WeberYang 3:029450d064bb 227 pitch *= 180.0f / PI;
WeberYang 3:029450d064bb 228 yaw *= 180.0f / PI;
WeberYang 3:029450d064bb 229 roll *= 180.0f / PI;
onehorse 0:65aa78c10981 230
WeberYang 3:029450d064bb 231 imu_msg.header.frame_id = frameid;
WeberYang 3:029450d064bb 232 imu_msg.header.stamp = nh.now();
WeberYang 3:029450d064bb 233 imu_msg.linear_acceleration.x = ax*9.81;//dmpData.acc.x;
WeberYang 3:029450d064bb 234 imu_msg.linear_acceleration.y = ay*9.81;//dmpData.acc.y;
WeberYang 3:029450d064bb 235 imu_msg.linear_acceleration.z = az*9.81;//dmpData.acc.z;
WeberYang 3:029450d064bb 236 imu_msg.angular_velocity.x = gx/180*3.1415926;//dmpData.gyro.x;
WeberYang 3:029450d064bb 237 imu_msg.angular_velocity.y = gy/180*3.1415926;//dmpData.gyro.y;
WeberYang 3:029450d064bb 238 imu_msg.angular_velocity.z = gz/180*3.1415926;//dmpData.gyro.z;
WeberYang 3:029450d064bb 239 imu_msg.orientation.w = q[0];
WeberYang 3:029450d064bb 240 imu_msg.orientation.x = q[1];
WeberYang 3:029450d064bb 241 imu_msg.orientation.y = q[2];
WeberYang 3:029450d064bb 242 imu_msg.orientation.z = q[3];
WeberYang 3:029450d064bb 243 imu_msg.orientation_covariance[8] = 0;
WeberYang 3:029450d064bb 244 imu_msg.angular_velocity_covariance[8] = 0;
WeberYang 3:029450d064bb 245 imu_msg.linear_acceleration_covariance[8] = 0;
WeberYang 3:029450d064bb 246 imu_pub.publish( &imu_msg );
WeberYang 3:029450d064bb 247 wait_ms(30);//must bigger then 30ms at 115200
WeberYang 3:029450d064bb 248
WeberYang 3:029450d064bb 249 encoder.x = encoder1.getPulses();
WeberYang 3:029450d064bb 250 encoder.y = encoder2.getPulses();
WeberYang 3:029450d064bb 251 Enc_pub.publish(&encoder);
WeberYang 3:029450d064bb 252 wait_ms(1);
WeberYang 3:029450d064bb 253
onehorse 0:65aa78c10981 254
WeberYang 3:029450d064bb 255
WeberYang 3:029450d064bb 256 myled= !myled;
WeberYang 3:029450d064bb 257 count = t.read_ms();
WeberYang 3:029450d064bb 258 sum = 0;
WeberYang 3:029450d064bb 259 sumCount = 0;
onehorse 0:65aa78c10981 260 }
WeberYang 3:029450d064bb 261