Jannes De Brabandere / Mbed 2 deprecated gimbalController_brushless_IMU

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Dependencies:   MPU6050 brushlessMotor mbed

Fork of gimbalController_brushless_IMU by Baser Kandehir

main.cpp@1:2ae94169eee6, 2015-07-17 (annotated)

Committer:
BaserK
Date:
Fri Jul 17 12:21:14 2015 +0000
Revision:
1:2ae94169eee6
Parent:
0:40b56bdec1d2
Child:
2:f9f4d36c2367
gimbalController works fine but it can be perfect after a PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BaserK 0:40b56bdec1d2 1 #include "mbed.h"
BaserK 0:40b56bdec1d2 2 #include "MPU6050.h"
BaserK 0:40b56bdec1d2 3 #include "ledControl.h"
BaserK 1:2ae94169eee6 4 #include "brushlessController_TB6612FNG.h"
BaserK 0:40b56bdec1d2 5
BaserK 1:2ae94169eee6 6 Serial pc(USBTX, USBRX); // Create terminal link
BaserK 1:2ae94169eee6 7 MPU6050 mpu6050; // mpu6050 object from MPU6050 classs
BaserK 1:2ae94169eee6 8 Ticker toggler1; // Ticker for led toggling
BaserK 1:2ae94169eee6 9 Ticker filter; // Ticker for periodic call to compFilter funcçs
BaserK 0:40b56bdec1d2 10
BaserK 1:2ae94169eee6 11 /* Function prototypes */
BaserK 0:40b56bdec1d2 12 void toggle_led1();
BaserK 0:40b56bdec1d2 13 void toggle_led2();
BaserK 0:40b56bdec1d2 14 void compFilter();
BaserK 0:40b56bdec1d2 15
BaserK 0:40b56bdec1d2 16 float pitchAngle = 0;
BaserK 0:40b56bdec1d2 17 float rollAngle = 0;
BaserK 1:2ae94169eee6 18 int errorMargin = 8; // error margin in degrees for stabilizing the gimbal system
BaserK 1:2ae94169eee6 19 int setPoint = -30; // set point in degrees for the gimbal system
BaserK 0:40b56bdec1d2 20
BaserK 1:2ae94169eee6 21 int main()
BaserK 0:40b56bdec1d2 22 {
BaserK 1:2ae94169eee6 23 pc.baud(9600); // baud rate: 9600
BaserK 1:2ae94169eee6 24 i2c.frequency(400000); // fast i2c: 400 kHz
BaserK 1:2ae94169eee6 25 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
BaserK 1:2ae94169eee6 26 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
BaserK 1:2ae94169eee6 27 pc.printf("Calibration is completed. \r\n");
BaserK 1:2ae94169eee6 28 mpu6050.init(); // Initialize the sensor
BaserK 1:2ae94169eee6 29 pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
BaserK 0:40b56bdec1d2 30
BaserK 1:2ae94169eee6 31 filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
BaserK 1:2ae94169eee6 32 while(1)
BaserK 0:40b56bdec1d2 33 {
BaserK 0:40b56bdec1d2 34 if (abs(rollAngle - setPoint) < errorMargin)
BaserK 0:40b56bdec1d2 35 {
BaserK 0:40b56bdec1d2 36 // Do not move if above statement is true
BaserK 0:40b56bdec1d2 37 led4 = 1;
BaserK 0:40b56bdec1d2 38 }
BaserK 0:40b56bdec1d2 39 else if(rollAngle > setPoint)
BaserK 0:40b56bdec1d2 40 {
BaserK 1:2ae94169eee6 41 brushlessControl(1, 500);
BaserK 0:40b56bdec1d2 42 led4 = 0;
BaserK 0:40b56bdec1d2 43 }
BaserK 0:40b56bdec1d2 44 else
BaserK 0:40b56bdec1d2 45 {
BaserK 1:2ae94169eee6 46 brushlessControl(0, 500);
BaserK 0:40b56bdec1d2 47 led4 = 0;
BaserK 0:40b56bdec1d2 48 }
BaserK 1:2ae94169eee6 49 }
BaserK 0:40b56bdec1d2 50 }
BaserK 0:40b56bdec1d2 51
BaserK 0:40b56bdec1d2 52 void toggle_led1() {ledToggle(1);}
BaserK 0:40b56bdec1d2 53 void toggle_led2() {ledToggle(2);}
BaserK 0:40b56bdec1d2 54
BaserK 0:40b56bdec1d2 55 /* This function is created to avoid address error that caused from Ticker.attach func */
BaserK 1:2ae94169eee6 56 void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}