Alex Block
/
test
ergwrthsgfhrtxhs
main.cpp@24:2c7787fc4fde, 2019-12-06 (annotated)
- Committer:
- block011
- Date:
- Fri Dec 06 17:37:07 2019 +0000
- Revision:
- 24:2c7787fc4fde
- Parent:
- 23:550b68587eb5
- Child:
- 25:5049c26a7e73
rtfhyg
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
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>© 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" |
block011 | 23:550b68587eb5 | 42 | #include "PID.h" |
mitch092 | 18:9b9ec0b35b45 | 43 | #include <iostream> |
mitch092 | 18:9b9ec0b35b45 | 44 | #include <cmath> |
cparata | 0:69566eea0fba | 45 | |
block011 | 24:2c7787fc4fde | 46 | const float MAX_SPEED = 0.0003f; |
block011 | 24:2c7787fc4fde | 47 | const float MIN_SPEED = 0.00500f; |
mitch092 | 22:5e7356dc1d71 | 48 | |
mitch092 | 22:5e7356dc1d71 | 49 | |
block011 | 23:550b68587eb5 | 50 | const float MAX_DEGREES = 3.0f; |
mitch092 | 22:5e7356dc1d71 | 51 | const float MIN_DEGREES = 0.0f; |
mitch092 | 21:b0e9b4d19d4d | 52 | |
block011 | 23:550b68587eb5 | 53 | float Acc_angle_error = 0; |
mitch092 | 22:5e7356dc1d71 | 54 | |
mitch092 | 22:5e7356dc1d71 | 55 | float clamp(float degrees) |
mitch092 | 22:5e7356dc1d71 | 56 | { |
mitch092 | 22:5e7356dc1d71 | 57 | if(degrees < MIN_DEGREES) return MIN_DEGREES; |
mitch092 | 22:5e7356dc1d71 | 58 | else if (degrees >= MAX_DEGREES) return MAX_DEGREES; |
mitch092 | 22:5e7356dc1d71 | 59 | else return degrees; |
mitch092 | 22:5e7356dc1d71 | 60 | } |
mitch092 | 21:b0e9b4d19d4d | 61 | |
mitch092 | 21:b0e9b4d19d4d | 62 | |
mitch092 | 21:b0e9b4d19d4d | 63 | |
mitch092 | 21:b0e9b4d19d4d | 64 | float degrees_to_period(float degrees) |
mitch092 | 21:b0e9b4d19d4d | 65 | { |
mitch092 | 22:5e7356dc1d71 | 66 | return (((MAX_SPEED - MIN_SPEED)/(MAX_DEGREES)) * clamp(std::abs(degrees)) + MIN_SPEED); |
mitch092 | 21:b0e9b4d19d4d | 67 | } |
mitch092 | 20:babcf777607b | 68 | |
mitch092 | 19:29d3c7caea66 | 69 | |
mitch092 | 19:29d3c7caea66 | 70 | |
mitch092 | 19:29d3c7caea66 | 71 | struct Vec3 { |
mitch092 | 19:29d3c7caea66 | 72 | float x, y, z; |
mitch092 | 19:29d3c7caea66 | 73 | }; |
mitch092 | 19:29d3c7caea66 | 74 | |
cparata | 0:69566eea0fba | 75 | /* Instantiate the expansion board */ |
davide.aliprandi@st.com | 13:fc873da5b445 | 76 | static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5); |
cparata | 0:69566eea0fba | 77 | |
cparata | 0:69566eea0fba | 78 | /* Retrieve the composing elements of the expansion board */ |
davide.aliprandi@st.com | 13:fc873da5b445 | 79 | static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer; |
cparata | 0:69566eea0fba | 80 | static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; |
davide.aliprandi@st.com | 13:fc873da5b445 | 81 | static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer; |
cparata | 0:69566eea0fba | 82 | |
mitch092 | 18:9b9ec0b35b45 | 83 | |
block011 | 23:550b68587eb5 | 84 | float unnormalize(float t){ |
block011 | 23:550b68587eb5 | 85 | return (MIN_SPEED - (t * ( MIN_SPEED - MAX_SPEED))); |
block011 | 23:550b68587eb5 | 86 | } |
mitch092 | 18:9b9ec0b35b45 | 87 | |
mitch092 | 21:b0e9b4d19d4d | 88 | PwmOut M1_step(D3); |
mitch092 | 19:29d3c7caea66 | 89 | DigitalOut M1_dir(D2); |
mitch092 | 18:9b9ec0b35b45 | 90 | |
mitch092 | 21:b0e9b4d19d4d | 91 | PwmOut M2_step(D5); |
mitch092 | 19:29d3c7caea66 | 92 | DigitalOut M2_dir(D4); |
mitch092 | 18:9b9ec0b35b45 | 93 | |
cparata | 0:69566eea0fba | 94 | |
mitch092 | 21:b0e9b4d19d4d | 95 | Serial out(USBTX, USBRX); |
mitch092 | 21:b0e9b4d19d4d | 96 | |
mitch092 | 21:b0e9b4d19d4d | 97 | |
cparata | 0:69566eea0fba | 98 | |
mitch092 | 18:9b9ec0b35b45 | 99 | |
mitch092 | 18:9b9ec0b35b45 | 100 | Vec3 get_accel() |
mitch092 | 18:9b9ec0b35b45 | 101 | { |
mitch092 | 18:9b9ec0b35b45 | 102 | Vec3 vec3; |
mitch092 | 18:9b9ec0b35b45 | 103 | int32_t axes[3]; |
mitch092 | 18:9b9ec0b35b45 | 104 | acc_gyro->get_x_axes(axes); |
cparata | 0:69566eea0fba | 105 | |
mitch092 | 18:9b9ec0b35b45 | 106 | vec3.x = axes[0]/1000.0f + 0.013f; |
mitch092 | 18:9b9ec0b35b45 | 107 | vec3.y = axes[1]/1000.0f + 0.004f; |
mitch092 | 18:9b9ec0b35b45 | 108 | vec3.z = axes[2]/1000.0f - 0.032f; |
mitch092 | 18:9b9ec0b35b45 | 109 | |
mitch092 | 18:9b9ec0b35b45 | 110 | return vec3; |
mitch092 | 18:9b9ec0b35b45 | 111 | } |
cparata | 0:69566eea0fba | 112 | |
mitch092 | 18:9b9ec0b35b45 | 113 | void print_vec3(const char* str, const Vec3& vec3) |
mitch092 | 18:9b9ec0b35b45 | 114 | { |
mitch092 | 18:9b9ec0b35b45 | 115 | std::cout << str << vec3.x << " " << vec3.y << " " << vec3.z << "\r\n"; |
cparata | 0:69566eea0fba | 116 | } |
cparata | 0:69566eea0fba | 117 | |
mitch092 | 20:babcf777607b | 118 | float rad_to_deg(float radians) |
mitch092 | 20:babcf777607b | 119 | { |
mitch092 | 20:babcf777607b | 120 | return radians * 57.2957795131f; |
mitch092 | 20:babcf777607b | 121 | } |
mitch092 | 19:29d3c7caea66 | 122 | |
block011 | 23:550b68587eb5 | 123 | void calc_accel_error() { |
block011 | 23:550b68587eb5 | 124 | Vec3 vec3; |
block011 | 23:550b68587eb5 | 125 | |
block011 | 23:550b68587eb5 | 126 | for(int i = 0 ; i < 200; i++){ |
block011 | 23:550b68587eb5 | 127 | vec3 = get_accel(); |
block011 | 23:550b68587eb5 | 128 | Acc_angle_error += rad_to_deg(atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z))); |
block011 | 23:550b68587eb5 | 129 | |
block011 | 23:550b68587eb5 | 130 | } |
block011 | 23:550b68587eb5 | 131 | Acc_angle_error /= 200; |
block011 | 23:550b68587eb5 | 132 | |
block011 | 23:550b68587eb5 | 133 | } |
mitch092 | 19:29d3c7caea66 | 134 | |
mitch092 | 19:29d3c7caea66 | 135 | |
mitch092 | 19:29d3c7caea66 | 136 | |
mitch092 | 18:9b9ec0b35b45 | 137 | int main() |
mitch092 | 18:9b9ec0b35b45 | 138 | { |
mitch092 | 18:9b9ec0b35b45 | 139 | magnetometer->enable(); |
mitch092 | 18:9b9ec0b35b45 | 140 | accelerometer->enable(); |
mitch092 | 18:9b9ec0b35b45 | 141 | acc_gyro->enable_x(); |
mitch092 | 18:9b9ec0b35b45 | 142 | acc_gyro->enable_g(); |
block011 | 23:550b68587eb5 | 143 | |
block011 | 23:550b68587eb5 | 144 | calc_accel_error(); |
mitch092 | 20:babcf777607b | 145 | Vec3 vec3; |
mitch092 | 18:9b9ec0b35b45 | 146 | |
mitch092 | 19:29d3c7caea66 | 147 | M1_dir = 1; |
mitch092 | 19:29d3c7caea66 | 148 | M2_dir = 0; |
block011 | 23:550b68587eb5 | 149 | float p; |
mitch092 | 21:b0e9b4d19d4d | 150 | M1_step = 0.5f; |
mitch092 | 21:b0e9b4d19d4d | 151 | M2_step = 0.5f; |
block011 | 24:2c7787fc4fde | 152 | PID Lpid(2.0, 0, 0.00, 0.05); |
block011 | 23:550b68587eb5 | 153 | Lpid.setInputLimits(-45.0,45.0); |
block011 | 23:550b68587eb5 | 154 | Lpid.setOutputLimits(0.0,1.0); |
block011 | 24:2c7787fc4fde | 155 | Lpid.setSetPoint(0.0); |
block011 | 23:550b68587eb5 | 156 | Lpid.setMode(AUTO_MODE); |
block011 | 24:2c7787fc4fde | 157 | PID Rpid(2.0, 00, 0.0, 0.05); |
block011 | 23:550b68587eb5 | 158 | Rpid.setInputLimits(-45.0,45.0); |
block011 | 23:550b68587eb5 | 159 | Rpid.setOutputLimits(0.0,1.0); |
block011 | 24:2c7787fc4fde | 160 | Rpid.setSetPoint(0.0); |
block011 | 23:550b68587eb5 | 161 | Rpid.setMode(AUTO_MODE); |
mitch092 | 19:29d3c7caea66 | 162 | |
block011 | 23:550b68587eb5 | 163 | float prev = 0; |
block011 | 23:550b68587eb5 | 164 | float L = 0, R = 0; |
mitch092 | 18:9b9ec0b35b45 | 165 | for(;;) { |
mitch092 | 19:29d3c7caea66 | 166 | vec3 = get_accel(); |
block011 | 24:2c7787fc4fde | 167 | float mean = 0; |
block011 | 23:550b68587eb5 | 168 | for (int i = 0; i < 5; i++) { |
block011 | 23:550b68587eb5 | 169 | angle = rad_to_deg(atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z))) - Acc_angle_error; |
block011 | 23:550b68587eb5 | 170 | mean += angle; |
block011 | 23:550b68587eb5 | 171 | wait(.01); |
block011 | 23:550b68587eb5 | 172 | } |
block011 | 23:550b68587eb5 | 173 | mean /= 5; |
block011 | 23:550b68587eb5 | 174 | angle = mean; |
block011 | 23:550b68587eb5 | 175 | |
block011 | 24:2c7787fc4fde | 176 | |
block011 | 23:550b68587eb5 | 177 | Lpid.setProcessValue(angle); |
block011 | 23:550b68587eb5 | 178 | Rpid.setProcessValue(angle * -1); |
block011 | 23:550b68587eb5 | 179 | L = Lpid.compute(); |
block011 | 23:550b68587eb5 | 180 | R = Rpid.compute(); |
block011 | 23:550b68587eb5 | 181 | |
block011 | 23:550b68587eb5 | 182 | p = abs( L-R); |
block011 | 23:550b68587eb5 | 183 | //Change direction. |
block011 | 23:550b68587eb5 | 184 | if(angle < 0) { |
mitch092 | 21:b0e9b4d19d4d | 185 | M1_dir = 0; |
mitch092 | 21:b0e9b4d19d4d | 186 | M2_dir = 1; |
mitch092 | 21:b0e9b4d19d4d | 187 | } else { |
mitch092 | 21:b0e9b4d19d4d | 188 | M1_dir = 1; |
mitch092 | 21:b0e9b4d19d4d | 189 | M2_dir = 0; |
mitch092 | 21:b0e9b4d19d4d | 190 | } |
block011 | 24:2c7787fc4fde | 191 | |
block011 | 23:550b68587eb5 | 192 | M1_step.period(unnormalize(p)); |
block011 | 23:550b68587eb5 | 193 | M2_step.period(unnormalize(p)); |
block011 | 24:2c7787fc4fde | 194 | |
block011 | 23:550b68587eb5 | 195 | |
block011 | 23:550b68587eb5 | 196 | prev = angle; |
mitch092 | 21:b0e9b4d19d4d | 197 | |
block011 | 23:550b68587eb5 | 198 | out.printf("%f %f %f %f\r\n", p, L, R , angle); |
block011 | 23:550b68587eb5 | 199 | |
block011 | 23:550b68587eb5 | 200 | |
mitch092 | 20:babcf777607b | 201 | } |
mitch092 | 20:babcf777607b | 202 | } |