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@17:8a0e647cf551, 2015-12-11 (annotated)

Committer:
amandaghassaei
Date:
Fri Dec 11 00:44:45 2015 +0000
Revision:
17:8a0e647cf551
Parent:
15:d88f10b3b5f8
Child:
18:0cfe72d8a006
eod

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 9:1d9b24d7ac77 54 } else {
amandaghassaei 9:1d9b24d7ac77 55 myMPU6050_1.disable();
amandaghassaei 9:1d9b24d7ac77 56 myMPU6050_2.enable();
amandaghassaei 9:1d9b24d7ac77 57 }
amandaghassaei 9:1d9b24d7ac77 58 }
amandaghassaei 9:1d9b24d7ac77 59
amandaghassaei 9:1d9b24d7ac77 60 void setPC(Serial *pc){
amandaghassaei 9:1d9b24d7ac77 61 _pc = pc;
amandaghassaei 9:1d9b24d7ac77 62 motor.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 63 gains.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 64 target.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 65 myMPU6050_1.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 66 myMPU6050_2.setPC(pc);
amandaghassaei 9:1d9b24d7ac77 67 }
amandaghassaei 7:7efcd3bf3302 68
amandaghassaei 7:7efcd3bf3302 69 Gains gains;
amandaghassaei 9:1d9b24d7ac77 70 void setSwingUpK(float k){
amandaghassaei 9:1d9b24d7ac77 71 gains.setSwingUpK(k);
amandaghassaei 9:1d9b24d7ac77 72 };
amandaghassaei 9:1d9b24d7ac77 73 void setSwingUpD(float d){
amandaghassaei 9:1d9b24d7ac77 74 gains.setSwingUpD(d);
amandaghassaei 9:1d9b24d7ac77 75 };
amandaghassaei 14:d620415259b1 76 void setDesiredThetaP(float p){
amandaghassaei 14:d620415259b1 77 gains.setDesiredThetaP(p);
amandaghassaei 9:1d9b24d7ac77 78 };
amandaghassaei 9:1d9b24d7ac77 79 float getSwingUpK(){
amandaghassaei 9:1d9b24d7ac77 80 return gains.getSwingUpK();
amandaghassaei 9:1d9b24d7ac77 81 };
amandaghassaei 9:1d9b24d7ac77 82 float getSwingUpD(){
amandaghassaei 9:1d9b24d7ac77 83 return gains.getSwingUpD();
amandaghassaei 9:1d9b24d7ac77 84 };
amandaghassaei 14:d620415259b1 85 float getDesiredThetaP(){
amandaghassaei 14:d620415259b1 86 return gains.getDesiredThetaP();
amandaghassaei 9:1d9b24d7ac77 87 };
amandaghassaei 9:1d9b24d7ac77 88
amandaghassaei 7:7efcd3bf3302 89 Target target;
amandaghassaei 9:1d9b24d7ac77 90 void setTargetPosition(int position){
amandaghassaei 12:49813131dd15 91 target.setPosition(position, _parameters);
amandaghassaei 9:1d9b24d7ac77 92 };
amandaghassaei 9:1d9b24d7ac77 93 int getTargetPosition(){
amandaghassaei 9:1d9b24d7ac77 94 return target.getPosition();
amandaghassaei 9:1d9b24d7ac77 95 };
amandaghassaei 8:1a3a69fecedf 96
amandaghassaei 17:8a0e647cf551 97 void setTargetingK(float k){
amandaghassaei 17:8a0e647cf551 98 gains.setTargetingK(k);
amandaghassaei 17:8a0e647cf551 99 };
amandaghassaei 17:8a0e647cf551 100 void setTargetingD(float d){
amandaghassaei 17:8a0e647cf551 101 gains.setTargetingD(d);
amandaghassaei 17:8a0e647cf551 102 };
amandaghassaei 17:8a0e647cf551 103 float getTargetingK(){
amandaghassaei 17:8a0e647cf551 104 return gains.getTargetingK();
amandaghassaei 17:8a0e647cf551 105 };
amandaghassaei 17:8a0e647cf551 106 float getTargetingD(){
amandaghassaei 17:8a0e647cf551 107 return gains.getTargetingD();
amandaghassaei 17:8a0e647cf551 108 };
amandaghassaei 17:8a0e647cf551 109
amandaghassaei 8:1a3a69fecedf 110 Motor motor;
amandaghassaei 11:711d3c207e8c 111 void setTheta(float theta){
amandaghassaei 11:711d3c207e8c 112 _manualTheta = theta;
amandaghassaei 9:1d9b24d7ac77 113 };
amandaghassaei 10:769cc457c3a4 114
amandaghassaei 11:711d3c207e8c 115 float _manualTheta;
amandaghassaei 7:7efcd3bf3302 116
amandaghassaei 8:1a3a69fecedf 117 //imu
amandaghassaei 8:1a3a69fecedf 118 MyMPU6050 myMPU6050_1;
amandaghassaei 8:1a3a69fecedf 119 MyMPU6050 myMPU6050_2;
amandaghassaei 10:769cc457c3a4 120
amandaghassaei 10:769cc457c3a4 121 void updateIMUS(){
amandaghassaei 10:769cc457c3a4 122 getActiveIMU()->loop();
amandaghassaei 11:711d3c207e8c 123 updateThetas();
amandaghassaei 10:769cc457c3a4 124 }
amandaghassaei 7:7efcd3bf3302 125
amandaghassaei 7:7efcd3bf3302 126 void loop(){
amandaghassaei 10:769cc457c3a4 127
amandaghassaei 13:64d337c5114e 128 getActiveIMU()->disableInterrupt();
amandaghassaei 13:64d337c5114e 129
amandaghassaei 12:49813131dd15 130 float tau = calcTau(_z, _parameters, &gains, &target, _pc);
amandaghassaei 9:1d9b24d7ac77 131 motor.setTorque(tau);
amandaghassaei 10:769cc457c3a4 132
amandaghassaei 13:64d337c5114e 133 getActiveIMU()->enableInterrupt();
amandaghassaei 10:769cc457c3a4 134 }
amandaghassaei 10:769cc457c3a4 135
amandaghassaei 10:769cc457c3a4 136 MyMPU6050* getActiveIMU(){
amandaghassaei 10:769cc457c3a4 137 if (_inverted) return &myMPU6050_2;
amandaghassaei 10:769cc457c3a4 138 return &myMPU6050_1;
amandaghassaei 10:769cc457c3a4 139 }
amandaghassaei 10:769cc457c3a4 140
amandaghassaei 8:1a3a69fecedf 141 float getTheta1(){
amandaghassaei 8:1a3a69fecedf 142 return _z[0];
amandaghassaei 7:7efcd3bf3302 143 }
amandaghassaei 8:1a3a69fecedf 144 float getDTheta1(){
amandaghassaei 8:1a3a69fecedf 145 return _z[2];
amandaghassaei 8:1a3a69fecedf 146 }
amandaghassaei 8:1a3a69fecedf 147 float getTheta2(){
amandaghassaei 8:1a3a69fecedf 148 return _z[1];
amandaghassaei 8:1a3a69fecedf 149 }
amandaghassaei 8:1a3a69fecedf 150 float getDTheta2(){
amandaghassaei 8:1a3a69fecedf 151 return _z[3];
amandaghassaei 8:1a3a69fecedf 152 }
amandaghassaei 8:1a3a69fecedf 153
amandaghassaei 8:1a3a69fecedf 154
amandaghassaei 7:7efcd3bf3302 155
amandaghassaei 7:7efcd3bf3302 156 private:
amandaghassaei 7:7efcd3bf3302 157
amandaghassaei 9:1d9b24d7ac77 158 Serial *_pc;
amandaghassaei 9:1d9b24d7ac77 159
amandaghassaei 8:1a3a69fecedf 160 float _parameters[10];
amandaghassaei 10:769cc457c3a4 161 volatile float _z[4];//theta1, theta2, dtheta2, dtheta2
amandaghassaei 14:d620415259b1 162
amandaghassaei 8:1a3a69fecedf 163 void updateThetas(){
amandaghassaei 8:1a3a69fecedf 164 _z[0] = _getTheta1();
amandaghassaei 8:1a3a69fecedf 165 _z[2] = _getDTheta1();
amandaghassaei 8:1a3a69fecedf 166 _z[1] = _getTheta2();
amandaghassaei 8:1a3a69fecedf 167 _z[3] = _getDTheta2();
amandaghassaei 8:1a3a69fecedf 168
amandaghassaei 8:1a3a69fecedf 169 }
amandaghassaei 8:1a3a69fecedf 170 float _getTheta1(){
amandaghassaei 10:769cc457c3a4 171 return getActiveIMU()->getTheta();
amandaghassaei 8:1a3a69fecedf 172 }
amandaghassaei 8:1a3a69fecedf 173 float _getDTheta1(){
amandaghassaei 10:769cc457c3a4 174 return getActiveIMU()->getDTheta();
amandaghassaei 8:1a3a69fecedf 175 }
amandaghassaei 8:1a3a69fecedf 176 float _getTheta2(){
amandaghassaei 8:1a3a69fecedf 177 if (_inverted) return -motor.getTheta();
amandaghassaei 8:1a3a69fecedf 178 return motor.getTheta();
amandaghassaei 8:1a3a69fecedf 179 }
amandaghassaei 8:1a3a69fecedf 180 float _getDTheta2(){
amandaghassaei 8:1a3a69fecedf 181 if (_inverted) return -motor.getDTheta();
amandaghassaei 8:1a3a69fecedf 182 return motor.getDTheta();
amandaghassaei 8:1a3a69fecedf 183 }
amandaghassaei 8:1a3a69fecedf 184
amandaghassaei 8:1a3a69fecedf 185 bool _inverted;
amandaghassaei 7:7efcd3bf3302 186
amandaghassaei 7:7efcd3bf3302 187 };
amandaghassaei 7:7efcd3bf3302 188
amandaghassaei 7:7efcd3bf3302 189 #endif