Revision 25:5049c26a7e73, committed 2019-12-09

Comitter:

block011

Date:

Mon Dec 09 05:31:37 2019 +0000

Parent:

24:2c7787fc4fde

Commit message:

Final publish

Changed in this revision

--- a/main.cpp	Fri Dec 06 17:37:07 2019 +0000
+++ b/main.cpp	Mon Dec 09 05:31:37 2019 +0000
@@ -1,40 +1,3 @@
-/**
- ******************************************************************************
- * @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>&copy; 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"
@@ -52,6 +15,16 @@
 
 float Acc_angle_error = 0;
 
+PwmOut M1_step(D3);
+DigitalOut M1_dir(D2);
+
+PwmOut M2_step(D5);
+DigitalOut M2_dir(D4);
+
+Serial out(USBTX, USBRX);
+
+
+
 float clamp(float degrees)
 {
     if(degrees < MIN_DEGREES) return MIN_DEGREES;
@@ -59,15 +32,11 @@
     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;
 };
@@ -80,23 +49,10 @@
 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;
@@ -129,7 +85,6 @@
 
     }
     Acc_angle_error /= 200;
-
 }
 
 
@@ -143,27 +98,35 @@
     
     calc_accel_error();
     Vec3 vec3;
-
+    float angle;
     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);
+    
+    //pid setup for left leaning
+    PID Lpid(1.0, 0.001, 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);
+    //pid setup for right leaning
+    PID Rpid(1.0, 0.006, 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;
+    
+    // main while loop
     for(;;) {
+        //get xyz data
         vec3 = get_accel();
+        
+        //calculates mean angle from 5 seperate readings
         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;
@@ -173,7 +136,7 @@
         mean /= 5;
         angle = mean;
         
-
+        //calculate pid
         Lpid.setProcessValue(angle);
         Rpid.setProcessValue(angle * -1);
         L = Lpid.compute();
@@ -192,9 +155,7 @@
         M1_step.period(unnormalize(p));
         M2_step.period(unnormalize(p));
 
-        
-        prev = angle;
-
+        //serial print
         out.printf("%f  %f  %f  %f\r\n", p, L, R , angle);