uhbduhbv
Dependencies: BNO055_fusion mbed
Fork of DEMO3 by
main.cpp@16:d6f15a13c3aa, 2016-03-27 (annotated)
- Committer:
- 12104404
- Date:
- Sun Mar 27 02:39:07 2016 +0000
- Revision:
- 16:d6f15a13c3aa
- Parent:
- 15:7729da55873a
- Child:
- 17:2f89826b5679
ANGLE PORTED and tested
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
12104404 | 0:96d6eb224379 | 1 | #include "LOCALIZE.h" |
12104404 | 6:0602a9e8118b | 2 | #include "LOCOMOTION.h" |
12104404 | 6:0602a9e8118b | 3 | #include "WATCHDOG.h" |
12104404 | 0:96d6eb224379 | 4 | |
12104404 | 6:0602a9e8118b | 5 | #define SPEED_FB_MIN 0.15 |
12104404 | 6:0602a9e8118b | 6 | #define SPEED_FB_MAX 0.50 |
12104404 | 6:0602a9e8118b | 7 | |
12104404 | 8:b36be08c44f8 | 8 | Serial pc(p13, p14); |
12104404 | 8:b36be08c44f8 | 9 | //Serial pc(USBTX, USBRX); |
12104404 | 6:0602a9e8118b | 10 | |
12104404 | 6:0602a9e8118b | 11 | Watchdog wdt; |
12104404 | 0:96d6eb224379 | 12 | |
12104404 | 0:96d6eb224379 | 13 | I2C i2c1(p28, p27); |
12104404 | 0:96d6eb224379 | 14 | I2C i2c2(p9, p10); |
12104404 | 16:d6f15a13c3aa | 15 | LOCALIZE loc(i2c1, i2c2, p26, p8, p7, p6, p5); |
12104404 | 0:96d6eb224379 | 16 | LOCALIZE_xya xya; |
12104404 | 15:7729da55873a | 17 | LOCOMOTION motion(p21, p22, p23, p24, p15, p16); |
12104404 | 6:0602a9e8118b | 18 | |
12104404 | 6:0602a9e8118b | 19 | Ticker t; |
12104404 | 6:0602a9e8118b | 20 | bool flag=false; |
12104404 | 6:0602a9e8118b | 21 | |
12104404 | 6:0602a9e8118b | 22 | void send(); |
12104404 | 15:7729da55873a | 23 | //void setAngle(int angle); |
12104404 | 10:cf44f4387bc7 | 24 | int wrap(int a); |
12104404 | 6:0602a9e8118b | 25 | |
12104404 | 0:96d6eb224379 | 26 | int main() |
12104404 | 0:96d6eb224379 | 27 | { |
12104404 | 6:0602a9e8118b | 28 | wdt.kick(5); |
12104404 | 0:96d6eb224379 | 29 | pc.baud(9600); |
12104404 | 6:0602a9e8118b | 30 | //pc.printf("Initialized Localization: %d\n",loc.init()); |
12104404 | 8:b36be08c44f8 | 31 | t.attach(&send,1); |
12104404 | 0:96d6eb224379 | 32 | while(1) { |
12104404 | 7:d6dca30f7959 | 33 | //loc.get_angle(&xya); |
12104404 | 8:b36be08c44f8 | 34 | loc.get_xy(&xya); |
12104404 | 16:d6f15a13c3aa | 35 | motion.setAngle(0,xya.a,2,ANGLE_TURN); |
12104404 | 8:b36be08c44f8 | 36 | //pc.printf("X: %3d\tY: %3d\tP: %3d\n",xya.x,xya.y,xya.a); |
12104404 | 6:0602a9e8118b | 37 | wdt.kick(); |
12104404 | 0:96d6eb224379 | 38 | } |
12104404 | 0:96d6eb224379 | 39 | } |
12104404 | 6:0602a9e8118b | 40 | |
12104404 | 6:0602a9e8118b | 41 | void send() |
12104404 | 6:0602a9e8118b | 42 | { |
12104404 | 8:b36be08c44f8 | 43 | pc.printf("%c%c%c%c\n",(char)xya.x,(char)xya.y,xya.a/10,xya.a%10); |
12104404 | 6:0602a9e8118b | 44 | } |
12104404 | 15:7729da55873a | 45 | /* |
12104404 | 10:cf44f4387bc7 | 46 | void setAngle(int angle) |
12104404 | 6:0602a9e8118b | 47 | { |
12104404 | 6:0602a9e8118b | 48 | float s = 0; |
12104404 | 10:cf44f4387bc7 | 49 | int diff = 0; |
12104404 | 10:cf44f4387bc7 | 50 | diff = 180-wrap(angle); |
12104404 | 11:9518f8285906 | 51 | if(abs(wrap(xya.a+diff)-180)<=5) |
12104404 | 10:cf44f4387bc7 | 52 | s=SPEED_TURN_MIN; |
12104404 | 10:cf44f4387bc7 | 53 | else |
12104404 | 12:3b26fcc7da7e | 54 | s=((SPEED_TURN_MAX-SPEED_TURN_MIN)*abs(wrap(xya.a+diff)-180)/180)+SPEED_TURN_MIN; |
12104404 | 10:cf44f4387bc7 | 55 | motor1F=s; |
12104404 | 10:cf44f4387bc7 | 56 | motor1B=s; |
12104404 | 10:cf44f4387bc7 | 57 | motor2F=s; |
12104404 | 10:cf44f4387bc7 | 58 | motor2B=s; |
12104404 | 10:cf44f4387bc7 | 59 | if(wrap(xya.a+diff)>180+2) { |
12104404 | 10:cf44f4387bc7 | 60 | dir1=1; |
12104404 | 10:cf44f4387bc7 | 61 | dir2=0; |
12104404 | 10:cf44f4387bc7 | 62 | } else if(wrap(xya.a+diff)<180-2) { |
12104404 | 10:cf44f4387bc7 | 63 | dir1=0; |
12104404 | 10:cf44f4387bc7 | 64 | dir2=1; |
12104404 | 10:cf44f4387bc7 | 65 | } else { |
12104404 | 10:cf44f4387bc7 | 66 | motor1F=0; |
12104404 | 10:cf44f4387bc7 | 67 | motor1B=0; |
12104404 | 10:cf44f4387bc7 | 68 | motor2F=0; |
12104404 | 10:cf44f4387bc7 | 69 | motor2B=0; |
12104404 | 6:0602a9e8118b | 70 | } |
12104404 | 15:7729da55873a | 71 | }*/ |
12104404 | 10:cf44f4387bc7 | 72 | |
12104404 | 10:cf44f4387bc7 | 73 | int wrap(int a) |
12104404 | 10:cf44f4387bc7 | 74 | { |
12104404 | 10:cf44f4387bc7 | 75 | return a%360; |
12104404 | 10:cf44f4387bc7 | 76 | } |