Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

Fork of MPU6050_Example by Shundo Kishi

Controls/Controls.h@18:0cfe72d8a006, 2015-12-11 (annotated)

Committer:
amandaghassaei
Date:
Fri Dec 11 06:16:33 2015 +0000
Revision:
18:0cfe72d8a006
Parent:
17:8a0e647cf551
Child:
19:270735e44c98
in progress

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 7:7efcd3bf3302 1 #ifndef Controls_h
amandaghassaei 7:7efcd3bf3302 2 #define Controls_h
amandaghassaei 7:7efcd3bf3302 3
amandaghassaei 8:1a3a69fecedf 4 #include <math.h>
amandaghassaei 7:7efcd3bf3302 5 #include "Gains.h"
amandaghassaei 7:7efcd3bf3302 6 #include "Target.h"
amandaghassaei 8:1a3a69fecedf 7 #include "MyMPU6050.h"
amandaghassaei 8:1a3a69fecedf 8 #include "Motor.h"
amandaghassaei 8:1a3a69fecedf 9 #include "Dynamics.h"
amandaghassaei 7:7efcd3bf3302 10
amandaghassaei 10:769cc457c3a4 11 #define controlTimerPeriod 0.001
amandaghassaei 10:769cc457c3a4 12
amandaghassaei 8:1a3a69fecedf 13 class Controls: public CommDelegate{
amandaghassaei 7:7efcd3bf3302 14
amandaghassaei 7:7efcd3bf3302 15 public:
amandaghassaei 7:7efcd3bf3302 16
amandaghassaei 9:1d9b24d7ac77 17 Controls():myMPU6050_1(p28, p27, p18), myMPU6050_2(p9, p10, p11){//I2C_SDA, I2C_SCL, int_pin
amandaghassaei 10:769cc457c3a4 18 }
amandaghassaei 8:1a3a69fecedf 19
amandaghassaei 10:769cc457c3a4 20 void setup(){
amandaghassaei 9:1d9b24d7ac77 21 setInverted(false);
amandaghassaei 8:1a3a69fecedf 22
amandaghassaei 11:711d3c207e8c 23 float m1 = 0.93159230;
amandaghassaei 11:711d3c207e8c 24 float m2 = 0.45433433;
amandaghassaei 11:711d3c207e8c 25 float l1 = 0.275;//length of links
amandaghassaei 8:1a3a69fecedf 26 float l2 = l1;
amandaghassaei 11:711d3c207e8c 27 float I1 = 0.03736067;
amandaghassaei 11:711d3c207e8c 28 float I2 = 0.01778165;
amandaghassaei 11:711d3c207e8c 29 float c1 = l1-0.08567346;//location of center of mass along link
amandaghassaei 11:711d3c207e8c 30 float c2 = 0.17594269;
amandaghassaei 8:1a3a69fecedf 31 float g = 9.81;
amandaghassaei 8:1a3a69fecedf 32 float lattice_pitch = 0.35;
amandaghassaei 8:1a3a69fecedf 33 _parameters[0] = l1;
amandaghassaei 8:1a3a69fecedf 34 _parameters[1] = l2;
amandaghassaei 8:1a3a69fecedf 35 _parameters[2] = c1;
amandaghassaei 8:1a3a69fecedf 36 _parameters[3] = c2;
amandaghassaei 8:1a3a69fecedf 37 _parameters[4] = m1;
amandaghassaei 8:1a3a69fecedf 38 _parameters[5] = m2;
amandaghassaei 8:1a3a69fecedf 39 _parameters[6] = I1;
amandaghassaei 8:1a3a69fecedf 40 _parameters[7] = I2;
amandaghassaei 8:1a3a69fecedf 41 _parameters[8] = g;
amandaghassaei 8:1a3a69fecedf 42 _parameters[9] = lattice_pitch;
amandaghassaei 8:1a3a69fecedf 43
amandaghassaei 11:711d3c207e8c 44 _manualTheta = 0;
amandaghassaei 12:49813131dd15 45
amandaghassaei 15:d88f10b3b5f8 46 setTargetPosition(6);//only 4 and 6 for now
amandaghassaei 7:7efcd3bf3302 47 }
amandaghassaei 9:1d9b24d7ac77 48
amandaghassaei 9:1d9b24d7ac77 49 void setInverted(bool inverted){
amandaghassaei 9:1d9b24d7ac77 50 _inverted = inverted;
amandaghassaei 9:1d9b24d7ac77 51 if (!_inverted) {
amandaghassaei 9:1d9b24d7ac77 52 myMPU6050_2.disable();
amandaghassaei 9:1d9b24d7ac77 53 myMPU6050_1.enable();
amandaghassaei 18:0cfe72d8a006 54 // motor.setGearRatio(10.164);
amandaghassaei 9:1d9b24d7ac77 55 } else {
amandaghassaei 9:1d9b24d7ac77 56 myMPU6050_1.disable();
amandaghassaei 9:1d9b24d7ac77 57 myMPU6050_2.enable();
amandaghassaei 18:0cfe72d8a006 58 // motor.setGearRatio(11.164);
amandaghassaei 9:1d9b24d7ac77 59 }
amandaghassaei 9:1d9b24d7ac77 60 }
amandaghassaei 9:1d9b24d7ac77 61
amandaghassaei 9:1d9b24d7ac77 62 void setPC(Serial *pc){
amandaghassaei 9:1d9b24d7ac77 63 _pc = pc;
amandaghassaei 9:1d9b24d7ac77 64 motor.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 65 gains.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 66 target.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 67 myMPU6050_1.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 68 myMPU6050_2.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 69 }
amandaghassaei 7:7efcd3bf3302 70
amandaghassaei 7:7efcd3bf3302 71 Gains gains;
amandaghassaei 9:1d9b24d7ac77 72 void setSwingUpK(float k){
amandaghassaei 9:1d9b24d7ac77 73 gains.setSwingUpK(k);
amandaghassaei 9:1d9b24d7ac77 74 };
amandaghassaei 9:1d9b24d7ac77 75 void setSwingUpD(float d){
amandaghassaei 9:1d9b24d7ac77 76 gains.setSwingUpD(d);
amandaghassaei 9:1d9b24d7ac77 77 };
amandaghassaei 14:d620415259b1 78 void setDesiredThetaP(float p){
amandaghassaei 14:d620415259b1 79 gains.setDesiredThetaP(p);
amandaghassaei 9:1d9b24d7ac77 80 };
amandaghassaei 9:1d9b24d7ac77 81 float getSwingUpK(){
amandaghassaei 9:1d9b24d7ac77 82 return gains.getSwingUpK();
amandaghassaei 9:1d9b24d7ac77 83 };
amandaghassaei 9:1d9b24d7ac77 84 float getSwingUpD(){
amandaghassaei 9:1d9b24d7ac77 85 return gains.getSwingUpD();
amandaghassaei 9:1d9b24d7ac77 86 };
amandaghassaei 14:d620415259b1 87 float getDesiredThetaP(){
amandaghassaei 14:d620415259b1 88 return gains.getDesiredThetaP();
amandaghassaei 9:1d9b24d7ac77 89 };
amandaghassaei 9:1d9b24d7ac77 90
amandaghassaei 7:7efcd3bf3302 91 Target target;
amandaghassaei 9:1d9b24d7ac77 92 void setTargetPosition(int position){
amandaghassaei 12:49813131dd15 93 target.setPosition(position, _parameters);
amandaghassaei 9:1d9b24d7ac77 94 };
amandaghassaei 9:1d9b24d7ac77 95 int getTargetPosition(){
amandaghassaei 9:1d9b24d7ac77 96 return target.getPosition();
amandaghassaei 9:1d9b24d7ac77 97 };
amandaghassaei 8:1a3a69fecedf 98
amandaghassaei 17:8a0e647cf551 99 void setTargetingK(float k){
amandaghassaei 17:8a0e647cf551 100 gains.setTargetingK(k);
amandaghassaei 17:8a0e647cf551 101 };
amandaghassaei 17:8a0e647cf551 102 void setTargetingD(float d){
amandaghassaei 17:8a0e647cf551 103 gains.setTargetingD(d);
amandaghassaei 17:8a0e647cf551 104 };
amandaghassaei 17:8a0e647cf551 105 float getTargetingK(){
amandaghassaei 17:8a0e647cf551 106 return gains.getTargetingK();
amandaghassaei 17:8a0e647cf551 107 };
amandaghassaei 17:8a0e647cf551 108 float getTargetingD(){
amandaghassaei 17:8a0e647cf551 109 return gains.getTargetingD();
amandaghassaei 17:8a0e647cf551 110 };
amandaghassaei 17:8a0e647cf551 111
amandaghassaei 8:1a3a69fecedf 112 Motor motor;
amandaghassaei 11:711d3c207e8c 113 void setTheta(float theta){
amandaghassaei 11:711d3c207e8c 114 _manualTheta = theta;
amandaghassaei 9:1d9b24d7ac77 115 };
amandaghassaei 10:769cc457c3a4 116
amandaghassaei 11:711d3c207e8c 117 float _manualTheta;
amandaghassaei 7:7efcd3bf3302 118
amandaghassaei 8:1a3a69fecedf 119 //imu
amandaghassaei 8:1a3a69fecedf 120 MyMPU6050 myMPU6050_1;
amandaghassaei 8:1a3a69fecedf 121 MyMPU6050 myMPU6050_2;
amandaghassaei 10:769cc457c3a4 122
amandaghassaei 10:769cc457c3a4 123 void updateIMUS(){
amandaghassaei 10:769cc457c3a4 124 getActiveIMU()->loop();
amandaghassaei 10:769cc457c3a4 125 }
amandaghassaei 7:7efcd3bf3302 126
amandaghassaei 7:7efcd3bf3302 127 void loop(){
amandaghassaei 10:769cc457c3a4 128
amandaghassaei 13:64d337c5114e 129 getActiveIMU()->disableInterrupt();
amandaghassaei 18:0cfe72d8a006 130 updateThetas();
amandaghassaei 18:0cfe72d8a006 131 float tau = calcTau(_z, _parameters, &gains, &target, _pc);
amandaghassaei 13:64d337c5114e 132
amandaghassaei 18:0cfe72d8a006 133 // float K = gains.getSwingUpK();
amandaghassaei 18:0cfe72d8a006 134 // float D = gains.getSwingUpD();
amandaghassaei 18:0cfe72d8a006 135 //
amandaghassaei 18:0cfe72d8a006 136 // float th1 = _z[0];
amandaghassaei 18:0cfe72d8a006 137 // float th2 = _z[1];
amandaghassaei 18:0cfe72d8a006 138 // float dth1 = _z[2];
amandaghassaei 18:0cfe72d8a006 139 // float dth2 = _z[3];
amandaghassaei 18:0cfe72d8a006 140 // float tau = (K*(_manualTheta - th2) - D*dth2);
amandaghassaei 18:0cfe72d8a006 141
amandaghassaei 9:1d9b24d7ac77 142 motor.setTorque(tau);
amandaghassaei 10:769cc457c3a4 143
amandaghassaei 13:64d337c5114e 144 getActiveIMU()->enableInterrupt();
amandaghassaei 10:769cc457c3a4 145 }
amandaghassaei 10:769cc457c3a4 146
amandaghassaei 10:769cc457c3a4 147 MyMPU6050* getActiveIMU(){
amandaghassaei 10:769cc457c3a4 148 if (_inverted) return &myMPU6050_2;
amandaghassaei 10:769cc457c3a4 149 return &myMPU6050_1;
amandaghassaei 10:769cc457c3a4 150 }
amandaghassaei 10:769cc457c3a4 151
amandaghassaei 8:1a3a69fecedf 152 float getTheta1(){
amandaghassaei 8:1a3a69fecedf 153 return _z[0];
amandaghassaei 7:7efcd3bf3302 154 }
amandaghassaei 8:1a3a69fecedf 155 float getDTheta1(){
amandaghassaei 8:1a3a69fecedf 156 return _z[2];
amandaghassaei 8:1a3a69fecedf 157 }
amandaghassaei 8:1a3a69fecedf 158 float getTheta2(){
amandaghassaei 8:1a3a69fecedf 159 return _z[1];
amandaghassaei 8:1a3a69fecedf 160 }
amandaghassaei 8:1a3a69fecedf 161 float getDTheta2(){
amandaghassaei 8:1a3a69fecedf 162 return _z[3];
amandaghassaei 8:1a3a69fecedf 163 }
amandaghassaei 8:1a3a69fecedf 164
amandaghassaei 8:1a3a69fecedf 165
amandaghassaei 7:7efcd3bf3302 166
amandaghassaei 7:7efcd3bf3302 167 private:
amandaghassaei 7:7efcd3bf3302 168
amandaghassaei 9:1d9b24d7ac77 169 Serial *_pc;
amandaghassaei 9:1d9b24d7ac77 170
amandaghassaei 8:1a3a69fecedf 171 float _parameters[10];
amandaghassaei 10:769cc457c3a4 172 volatile float _z[4];//theta1, theta2, dtheta2, dtheta2
amandaghassaei 14:d620415259b1 173
amandaghassaei 8:1a3a69fecedf 174 void updateThetas(){
amandaghassaei 8:1a3a69fecedf 175 _z[0] = _getTheta1();
amandaghassaei 8:1a3a69fecedf 176 _z[2] = _getDTheta1();
amandaghassaei 8:1a3a69fecedf 177 _z[1] = _getTheta2();
amandaghassaei 8:1a3a69fecedf 178 _z[3] = _getDTheta2();
amandaghassaei 8:1a3a69fecedf 179
amandaghassaei 8:1a3a69fecedf 180 }
amandaghassaei 8:1a3a69fecedf 181 float _getTheta1(){
amandaghassaei 10:769cc457c3a4 182 return getActiveIMU()->getTheta();
amandaghassaei 8:1a3a69fecedf 183 }
amandaghassaei 8:1a3a69fecedf 184 float _getDTheta1(){
amandaghassaei 10:769cc457c3a4 185 return getActiveIMU()->getDTheta();
amandaghassaei 8:1a3a69fecedf 186 }
amandaghassaei 8:1a3a69fecedf 187 float _getTheta2(){
amandaghassaei 8:1a3a69fecedf 188 if (_inverted) return -motor.getTheta();
amandaghassaei 8:1a3a69fecedf 189 return motor.getTheta();
amandaghassaei 8:1a3a69fecedf 190 }
amandaghassaei 8:1a3a69fecedf 191 float _getDTheta2(){
amandaghassaei 8:1a3a69fecedf 192 if (_inverted) return -motor.getDTheta();
amandaghassaei 8:1a3a69fecedf 193 return motor.getDTheta();
amandaghassaei 8:1a3a69fecedf 194 }
amandaghassaei 8:1a3a69fecedf 195
amandaghassaei 8:1a3a69fecedf 196 bool _inverted;
amandaghassaei 7:7efcd3bf3302 197
amandaghassaei 7:7efcd3bf3302 198 };
amandaghassaei 7:7efcd3bf3302 199
amandaghassaei 7:7efcd3bf3302 200 #endif