Alex Block
/
test
ergwrthsgfhrtxhs
main.cpp
- Committer:
- block011
- Date:
- 2019-12-06
- Revision:
- 24:2c7787fc4fde
- Parent:
- 23:550b68587eb5
- Child:
- 25:5049c26a7e73
File content as of revision 24:2c7787fc4fde:
/** ****************************************************************************** * @file main.cpp * @author CLab * @version V1.0.0 * @date 2-December-2016 * @brief Simple Example application for using the X_NUCLEO_IKS01A1 * MEMS Inertial & Environmental Sensor Nucleo expansion board. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes */ #include "mbed.h" #include "XNucleoIKS01A2.h" #include "PID.h" #include <iostream> #include <cmath> const float MAX_SPEED = 0.0003f; const float MIN_SPEED = 0.00500f; const float MAX_DEGREES = 3.0f; const float MIN_DEGREES = 0.0f; float Acc_angle_error = 0; float clamp(float degrees) { if(degrees < MIN_DEGREES) return MIN_DEGREES; else if (degrees >= MAX_DEGREES) return MAX_DEGREES; else return degrees; } float degrees_to_period(float degrees) { return (((MAX_SPEED - MIN_SPEED)/(MAX_DEGREES)) * clamp(std::abs(degrees)) + MIN_SPEED); } struct Vec3 { float x, y, z; }; /* Instantiate the expansion board */ static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5); /* Retrieve the composing elements of the expansion board */ static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer; static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer; float unnormalize(float t){ return (MIN_SPEED - (t * ( MIN_SPEED - MAX_SPEED))); } PwmOut M1_step(D3); DigitalOut M1_dir(D2); PwmOut M2_step(D5); DigitalOut M2_dir(D4); Serial out(USBTX, USBRX); Vec3 get_accel() { Vec3 vec3; int32_t axes[3]; acc_gyro->get_x_axes(axes); vec3.x = axes[0]/1000.0f + 0.013f; vec3.y = axes[1]/1000.0f + 0.004f; vec3.z = axes[2]/1000.0f - 0.032f; return vec3; } void print_vec3(const char* str, const Vec3& vec3) { std::cout << str << vec3.x << " " << vec3.y << " " << vec3.z << "\r\n"; } float rad_to_deg(float radians) { return radians * 57.2957795131f; } void calc_accel_error() { Vec3 vec3; for(int i = 0 ; i < 200; i++){ vec3 = get_accel(); Acc_angle_error += rad_to_deg(atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z))); } Acc_angle_error /= 200; } int main() { magnetometer->enable(); accelerometer->enable(); acc_gyro->enable_x(); acc_gyro->enable_g(); calc_accel_error(); Vec3 vec3; M1_dir = 1; M2_dir = 0; float p; M1_step = 0.5f; M2_step = 0.5f; PID Lpid(2.0, 0, 0.00, 0.05); Lpid.setInputLimits(-45.0,45.0); Lpid.setOutputLimits(0.0,1.0); Lpid.setSetPoint(0.0); Lpid.setMode(AUTO_MODE); PID Rpid(2.0, 00, 0.0, 0.05); Rpid.setInputLimits(-45.0,45.0); Rpid.setOutputLimits(0.0,1.0); Rpid.setSetPoint(0.0); Rpid.setMode(AUTO_MODE); float prev = 0; float L = 0, R = 0; for(;;) { vec3 = get_accel(); float mean = 0; for (int i = 0; i < 5; i++) { angle = rad_to_deg(atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z))) - Acc_angle_error; mean += angle; wait(.01); } mean /= 5; angle = mean; Lpid.setProcessValue(angle); Rpid.setProcessValue(angle * -1); L = Lpid.compute(); R = Rpid.compute(); p = abs( L-R); //Change direction. if(angle < 0) { M1_dir = 0; M2_dir = 1; } else { M1_dir = 1; M2_dir = 0; } M1_step.period(unnormalize(p)); M2_step.period(unnormalize(p)); prev = angle; out.printf("%f %f %f %f\r\n", p, L, R , angle); } }