Diff: main.cpp

Revision:

0:6e5bca5b4c06

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Feb 11 19:45:44 2015 +0000
@@ -0,0 +1,90 @@
+#include "mbed.h"
+#include "MPU6050.h"
+#include "I2Cdev.h"
+#include <math.h>
+
+#define NB_MEASURE 5
+#define KP 10
+#define T_MEASURE 2000
+#define TE T_MEASURE*NB_MEASURE*1.0e-6
+
+#ifndef M_PI
+#define M_PI           3.14159265358979323846
+#endif
+ 
+  
+
+Ticker T_measure;
+DigitalOut led1(D2);
+DigitalOut led2(D3);
+Serial pc(USBTX, USBRX);
+MPU6050 mpu;
+
+
+int gOmega,gaccY,gAccZ;
+bool gEndMeasure=false;
+
+ 
+void measure() {
+    static int cpt=0;
+    static int accY,accZ,omegaM; //retour capteurs
+    //mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+    //mesure angle et vitesse ang
+    led2=1;
+    if(cpt<NB_MEASURE){
+
+        accY+= mpu.getAccelerationY();
+        accZ+= mpu.getAccelerationZ();
+        omegaM += mpu.getRotationY();
+        cpt++;
+        led2=0;
+    }else
+    {
+        cpt=0;
+        gaccY =accY/NB_MEASURE;
+        gAccZ=accZ/NB_MEASURE; 
+        gOmega=omegaM/NB_MEASURE; 
+        accY=accZ=omegaM=0;
+        gEndMeasure=true;
+    }
+    led2=0;
+
+}
+ 
+int main() {
+    float tetaM,teta,tetaAv=0;
+    mpu.initialize();
+    pc.baud(115200);
+    pc.printf("MPU6050 testConnection \n\r");
+ 
+    bool mpu6050TestResult = mpu.testConnection();
+    if(mpu6050TestResult) {
+        pc.printf("\r\nMPU6050 test passed Te=%.4f\n\r",TE);
+    } else {
+        pc.printf("\r\nMPU6050 test failed \n\r");
+    }
+    led2 = 1;
+    led1 = 1;
+    T_measure.attach_us(&measure, T_MEASURE); // the address of the function to be attached (flip) and the interval (2 seconds)
+   // temporisation.attach_us(&tempo, 10000); // spin in a main loop. flipper will interrupt it to call flip
+    while(1) {
+        if(gEndMeasure){
+            led1=1;
+            gEndMeasure=false;
+            tetaM=atan2(static_cast<double>(gaccY),static_cast<double>(gAccZ)); //calcul de l'angle
+            float tetaM_deg = tetaM * 180 / M_PI;
+            float K=exp(static_cast<double>(-KP*TE));
+            pc.printf("K = %6.4f  ",K);
+            teta=K*tetaAv +(1-K)/KP*(KP*tetaM+gOmega); //angle estimé
+            pc.printf("gaccY = %6d  gAccZ= %6d   gyro=%6d  angleM=%6.2f  angle=%.2f\r\n",gaccY, gAccZ, gOmega,tetaM_deg,teta);
+            tetaAv=teta;
+            led1=0;
+
+           /* if(tetaM < 0) 
+                tetaM += 2*PI;
+            if(tetaM > 2*PI) 
+                tetaM -= 2*PI;
+            tetaM = tetaM * 180 / PI;*/
+        }
+    }
+}
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