Alex Block / Mbed 2 deprecated test

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Dependencies:   mbed weelio PID

main.cpp@20:babcf777607b, 2019-11-22 (annotated)

Committer:
mitch092
Date:
Fri Nov 22 23:54:51 2019 +0000
Revision:
20:babcf777607b
Parent:
19:29d3c7caea66
Child:
21:b0e9b4d19d4d
Made some changes.

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cparata 0:69566eea0fba 1 /**
cparata 0:69566eea0fba 2 ******************************************************************************
cparata 0:69566eea0fba 3 * @file main.cpp
cparata 8:8f495e604424 4 * @author CLab
cparata 8:8f495e604424 5 * @version V1.0.0
cparata 8:8f495e604424 6 * @date 2-December-2016
mitch092 18:9b9ec0b35b45 7 * @brief Simple Example application for using the X_NUCLEO_IKS01A1
cparata 0:69566eea0fba 8 * MEMS Inertial & Environmental Sensor Nucleo expansion board.
cparata 0:69566eea0fba 9 ******************************************************************************
cparata 0:69566eea0fba 10 * @attention
cparata 0:69566eea0fba 11 *
cparata 0:69566eea0fba 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:69566eea0fba 13 *
cparata 0:69566eea0fba 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:69566eea0fba 15 * are permitted provided that the following conditions are met:
cparata 0:69566eea0fba 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:69566eea0fba 17 * this list of conditions and the following disclaimer.
cparata 0:69566eea0fba 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:69566eea0fba 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:69566eea0fba 20 * and/or other materials provided with the distribution.
cparata 0:69566eea0fba 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:69566eea0fba 22 * may be used to endorse or promote products derived from this software
cparata 0:69566eea0fba 23 * without specific prior written permission.
cparata 0:69566eea0fba 24 *
cparata 0:69566eea0fba 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:69566eea0fba 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:69566eea0fba 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:69566eea0fba 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:69566eea0fba 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:69566eea0fba 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:69566eea0fba 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:69566eea0fba 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:69566eea0fba 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:69566eea0fba 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:69566eea0fba 35 *
cparata 0:69566eea0fba 36 ******************************************************************************
mitch092 18:9b9ec0b35b45 37 */
cparata 0:69566eea0fba 38
cparata 0:69566eea0fba 39 /* Includes */
cparata 0:69566eea0fba 40 #include "mbed.h"
davide.aliprandi@st.com 13:fc873da5b445 41 #include "XNucleoIKS01A2.h"
mitch092 18:9b9ec0b35b45 42 #include <iostream>
mitch092 18:9b9ec0b35b45 43 #include <cmath>
cparata 0:69566eea0fba 44
mitch092 20:babcf777607b 45 const float MAX_SPEED = .002;
mitch092 20:babcf777607b 46 const float MIN_SPEED = .003;
mitch092 20:babcf777607b 47 const float MAX_DEGREES = 3.0;
mitch092 20:babcf777607b 48 const float MIN_DEGREES = .5;
mitch092 20:babcf777607b 49 const float MAX_TILT = (MIN_SPEED - MAX_SPEED) / MAX_DEGREES;
mitch092 20:babcf777607b 50
mitch092 19:29d3c7caea66 51
mitch092 19:29d3c7caea66 52
mitch092 19:29d3c7caea66 53 struct Vec3 {
mitch092 19:29d3c7caea66 54 float x, y, z;
mitch092 19:29d3c7caea66 55 };
mitch092 19:29d3c7caea66 56
cparata 0:69566eea0fba 57 /* Instantiate the expansion board */
davide.aliprandi@st.com 13:fc873da5b445 58 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
cparata 0:69566eea0fba 59
cparata 0:69566eea0fba 60 /* Retrieve the composing elements of the expansion board */
davide.aliprandi@st.com 13:fc873da5b445 61 static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
cparata 0:69566eea0fba 62 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
davide.aliprandi@st.com 13:fc873da5b445 63 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
cparata 0:69566eea0fba 64
mitch092 18:9b9ec0b35b45 65
mitch092 18:9b9ec0b35b45 66
mitch092 18:9b9ec0b35b45 67
mitch092 19:29d3c7caea66 68 DigitalOut M1_step(D3);
mitch092 19:29d3c7caea66 69 DigitalOut M1_dir(D2);
mitch092 18:9b9ec0b35b45 70
mitch092 19:29d3c7caea66 71 DigitalOut M2_step(D5);
mitch092 19:29d3c7caea66 72 DigitalOut M2_dir(D4);
mitch092 18:9b9ec0b35b45 73
cparata 0:69566eea0fba 74
cparata 0:69566eea0fba 75
mitch092 18:9b9ec0b35b45 76
mitch092 18:9b9ec0b35b45 77 Vec3 get_accel()
mitch092 18:9b9ec0b35b45 78 {
mitch092 18:9b9ec0b35b45 79 Vec3 vec3;
mitch092 18:9b9ec0b35b45 80 int32_t axes[3];
mitch092 18:9b9ec0b35b45 81 acc_gyro->get_x_axes(axes);
cparata 0:69566eea0fba 82
mitch092 18:9b9ec0b35b45 83 vec3.x = axes[0]/1000.0f + 0.013f;
mitch092 18:9b9ec0b35b45 84 vec3.y = axes[1]/1000.0f + 0.004f;
mitch092 18:9b9ec0b35b45 85 vec3.z = axes[2]/1000.0f - 0.032f;
mitch092 18:9b9ec0b35b45 86
mitch092 18:9b9ec0b35b45 87 return vec3;
mitch092 18:9b9ec0b35b45 88 }
cparata 0:69566eea0fba 89
mitch092 18:9b9ec0b35b45 90 void print_vec3(const char* str, const Vec3& vec3)
mitch092 18:9b9ec0b35b45 91 {
mitch092 18:9b9ec0b35b45 92 std::cout << str << vec3.x << " " << vec3.y << " " << vec3.z << "\r\n";
cparata 0:69566eea0fba 93 }
cparata 0:69566eea0fba 94
mitch092 20:babcf777607b 95 float rad_to_deg(float radians)
mitch092 20:babcf777607b 96 {
mitch092 20:babcf777607b 97 return radians * 57.2957795131f;
mitch092 20:babcf777607b 98 }
mitch092 19:29d3c7caea66 99
mitch092 19:29d3c7caea66 100
mitch092 19:29d3c7caea66 101
mitch092 19:29d3c7caea66 102
mitch092 18:9b9ec0b35b45 103 int main()
mitch092 18:9b9ec0b35b45 104 {
mitch092 18:9b9ec0b35b45 105 /* Enable all sensors */
mitch092 18:9b9ec0b35b45 106 magnetometer->enable();
mitch092 18:9b9ec0b35b45 107 accelerometer->enable();
mitch092 18:9b9ec0b35b45 108 acc_gyro->enable_x();
mitch092 18:9b9ec0b35b45 109 acc_gyro->enable_g();
mitch092 18:9b9ec0b35b45 110
mitch092 20:babcf777607b 111 Vec3 vec3;
mitch092 20:babcf777607b 112 int numOfSteps;
mitch092 18:9b9ec0b35b45 113
mitch092 19:29d3c7caea66 114 M1_dir = 1;
mitch092 19:29d3c7caea66 115 M2_dir = 0;
mitch092 19:29d3c7caea66 116
mitch092 20:babcf777607b 117 float given;
mitch092 20:babcf777607b 118
mitch092 18:9b9ec0b35b45 119
mitch092 18:9b9ec0b35b45 120 for(;;) {
mitch092 19:29d3c7caea66 121 vec3 = get_accel();
mitch092 20:babcf777607b 122 given = rad_to_deg(atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z)));
mitch092 18:9b9ec0b35b45 123
mitch092 20:babcf777607b 124 numOfSteps = given / 0.055f;
mitch092 19:29d3c7caea66 125
mitch092 18:9b9ec0b35b45 126
mitch092 20:babcf777607b 127 if (std::abs(given) > MIN_DEGREES) {
mitch092 20:babcf777607b 128 //Change direction.
mitch092 20:babcf777607b 129 if(given > 0) {
mitch092 20:babcf777607b 130 M1_dir = 0;
mitch092 20:babcf777607b 131 M2_dir = 1;
mitch092 20:babcf777607b 132 } else {
mitch092 20:babcf777607b 133 M1_dir = 1;
mitch092 20:babcf777607b 134 M2_dir = 0;
mitch092 20:babcf777607b 135 }
mitch092 19:29d3c7caea66 136
mitch092 20:babcf777607b 137 float stepTime;
mitch092 20:babcf777607b 138 given = std::abs(given);
mitch092 20:babcf777607b 139
mitch092 20:babcf777607b 140 if (given > MAX_DEGREES){
mitch092 20:babcf777607b 141 stepTime = MAX_SPEED;
mitch092 20:babcf777607b 142 }
mitch092 20:babcf777607b 143 else{
mitch092 20:babcf777607b 144 stepTime = (MAX_TILT * given) + MIN_SPEED;
mitch092 20:babcf777607b 145 }
mitch092 20:babcf777607b 146 //Control stepper motor.
mitch092 20:babcf777607b 147 for(int i = 0; i < numOfSteps; ++i) {
mitch092 20:babcf777607b 148 M2_step = 1;
mitch092 20:babcf777607b 149 M1_step = 1;
mitch092 20:babcf777607b 150 wait(0.0014);
mitch092 20:babcf777607b 151 M1_step = 0;
mitch092 20:babcf777607b 152 M2_step = 0;
mitch092 20:babcf777607b 153 wait(0.0014);
mitch092 20:babcf777607b 154 }
mitch092 20:babcf777607b 155 }
mitch092 19:29d3c7caea66 156
cparata 0:69566eea0fba 157
mitch092 19:29d3c7caea66 158
mitch092 20:babcf777607b 159 }
mitch092 20:babcf777607b 160 }