drive down
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of TEAM_G_FLOW_RIDA by
LOCALIZE.cpp
- Committer:
- 12104404
- Date:
- 2016-03-23
- Revision:
- 8:b36be08c44f8
- Parent:
- 6:0602a9e8118b
- Child:
- 9:4fc5d70c3bab
File content as of revision 8:b36be08c44f8:
#include "LOCALIZE.h" LOCALIZE::LOCALIZE (I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset): _y_i2c(y_i2c), _x_imu_i2c(x_imu_i2c), _imu(x_imu_i2c, imu_reset) {} int LOCALIZE::init (void) { if(_imu.chip_ready()==0) return ERROR_IMU; _imu.set_mounting_position(MT_P0); //_imu.change_fusion_mode(MODE_IMU); _imu.change_fusion_mode(MODE_NDOF); char data[]= {0,0,0}; if(_x_imu_i2c.read(R_P_ADDR<<1, data, 3)!=0) return ERROR_RX_P; if(_x_imu_i2c.read(R_N_ADDR<<1, data, 3)!=0) return ERROR_RX_N; if(_y_i2c.read(R_P_ADDR<<1, data, 3)!=0) return ERROR_RY_P; if(_y_i2c.read(R_N_ADDR<<1, data, 3)!=0) return ERROR_RY_N; return 0; } void LOCALIZE::get_angle(LOCALIZE_xya *xya) { _imu.get_Euler_Angles(&_euler); _imu.get_gravity(&_gravity); unsigned int quad=0; if(_gravity.y>=0) quad&=~1; else quad|=1; if(_gravity.x>=0) quad&=~(1<<1); else quad|=(1<<1); quad&=3; switch(quad) { case 0: _angle=_euler.p; break; case 1: _angle=180-_euler.p; break; case 2: _angle=360+_euler.p; break; case 3: _angle=180+abs(_euler.p); break; default: _angle=-1; break; } //_xya.a=_angle-FRAME_OFF; //xya->a=_xya.a; xya->a=_euler.h; _xya.a=xya->a; } void LOCALIZE::get_xy(LOCALIZE_xya *xya) { int _rx, _ry; get_raw_xy(); get_angle(xya); if(_xya.a<R_ERROR || _xya.a>360-R_ERROR) { _rx=_rx_p<_rx_n ? _rx_p : FRAME_W-RX_OFF-_rx_n; _ry=_ry_p<_ry_n ? _ry_p : FRAME_H-RY_OFF-_ry_n; } else if(abs(_xya.a-90)<R_ERROR) { _rx=_ry_p<_ry_n ? _ry_p : FRAME_W-RY_OFF-_ry_n; _ry=_rx_p<_rx_n ? FRAME_H-RX_OFF-_rx_p : _rx_n; } else if(abs(_xya.a-180)<R_ERROR) { _rx=_rx_p<_rx_n ? FRAME_W-RX_OFF-_rx_p : _rx_n; _ry=_ry_p<_ry_n ? FRAME_H-RY_OFF-_ry_p : _ry_n; } else if(abs(_xya.a-270)<R_ERROR) { _rx=_ry_p<_ry_n ? FRAME_W-RY_OFF-_ry_p : _ry_n; _ry=_rx_p<_rx_n ? _rx_p : FRAME_H-RX_OFF-_rx_n; } else { //error _rx=_rx_p; _ry=_ry_p; } _xya.x=_rx; _xya.y=_ry; xya->x=_xya.x; xya->y=_xya.y; } void LOCALIZE::get_raw_xy(void) { char data[]= {0,0,0}; _x_imu_i2c.read(R_P_ADDR<<1, data, 3); wait(R_WAIT); _rx_n=data[1]; _x_imu_i2c.read(R_N_ADDR<<1, data, 3); wait(R_WAIT); _rx_p=data[1]; _y_i2c.read(R_P_ADDR<<1, data, 3); wait(R_WAIT); _ry_n=data[1]; _y_i2c.read(R_N_ADDR<<1, data, 3); wait(R_WAIT); _ry_p=data[1]; //printf("%d %d %d %d\n",_rx_p,_rx_n,_ry_p,_ry_n); }