2-wheel Inverted Pendulum control program
Dependencies: AsyncSerial Lib_DFPlayerMini Lib_MPU9250_SPI mbed
defines.h@2:9c83de2d33ca, 2017-09-16 (annotated)
- Committer:
- bluefish
- Date:
- Sat Sep 16 17:15:30 2017 +0000
- Revision:
- 2:9c83de2d33ca
- Parent:
- 0:c86a79c8b787
- Child:
- 3:7bcf3407e102
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
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bluefish | 0:c86a79c8b787 | 1 | #ifndef __DEFINES_H__ |
bluefish | 0:c86a79c8b787 | 2 | #define __DEFINES_H__ |
bluefish | 0:c86a79c8b787 | 3 | |
bluefish | 0:c86a79c8b787 | 4 | #include "mbed.h" |
bluefish | 0:c86a79c8b787 | 5 | #include "AsyncSerial.hpp" |
bluefish | 0:c86a79c8b787 | 6 | |
bluefish | 2:9c83de2d33ca | 7 | //#include "Lib_DFPlayerMini.h" |
bluefish | 0:c86a79c8b787 | 8 | #include "Lib_MPU9250_SPI.h" |
bluefish | 0:c86a79c8b787 | 9 | |
bluefish | 0:c86a79c8b787 | 10 | //#define USE_SERIAL_DEBUG |
bluefish | 0:c86a79c8b787 | 11 | //#define USE_LED_DEBUG |
bluefish | 0:c86a79c8b787 | 12 | |
bluefish | 0:c86a79c8b787 | 13 | #ifdef USE_SERIAL_DEBUG |
bluefish | 0:c86a79c8b787 | 14 | #define DEBUG_BAUDRATE 115200 |
bluefish | 0:c86a79c8b787 | 15 | AsyncSerial usb_serial( USBTX, USBRX ); |
bluefish | 0:c86a79c8b787 | 16 | #endif |
bluefish | 0:c86a79c8b787 | 17 | |
bluefish | 0:c86a79c8b787 | 18 | #ifdef USE_LED_DEBUG |
bluefish | 0:c86a79c8b787 | 19 | DigitalOut myled[4] = { LED1, LED2, LED3, LED4 }; |
bluefish | 0:c86a79c8b787 | 20 | #endif |
bluefish | 0:c86a79c8b787 | 21 | |
bluefish | 2:9c83de2d33ca | 22 | #define MAX_ANGLE ((20.0f) / MPU9250G_DEG2RAD) |
bluefish | 2:9c83de2d33ca | 23 | |
bluefish | 0:c86a79c8b787 | 24 | #define PROCESS_INTERVAL_SEC (0.01f) |
bluefish | 0:c86a79c8b787 | 25 | |
bluefish | 0:c86a79c8b787 | 26 | #define CAN_RX (p30) |
bluefish | 0:c86a79c8b787 | 27 | #define CAN_TX (p29) |
bluefish | 0:c86a79c8b787 | 28 | |
bluefish | 0:c86a79c8b787 | 29 | #define MPU9250_CS p7 |
bluefish | 0:c86a79c8b787 | 30 | #define MPU9250_MOSI p11 |
bluefish | 0:c86a79c8b787 | 31 | #define MPU9250_MISO p12 |
bluefish | 0:c86a79c8b787 | 32 | #define MPU9250_SCK p13 |
bluefish | 0:c86a79c8b787 | 33 | #define MPU9250_INT p8 |
bluefish | 0:c86a79c8b787 | 34 | |
bluefish | 0:c86a79c8b787 | 35 | #define DFPLAYER_RX p27 |
bluefish | 0:c86a79c8b787 | 36 | #define DFPLAYER_TX p28 |
bluefish | 0:c86a79c8b787 | 37 | #define DFPLAYER_BUSY p18 |
bluefish | 0:c86a79c8b787 | 38 | |
bluefish | 2:9c83de2d33ca | 39 | #define BLUETOOTH_RX p27 |
bluefish | 2:9c83de2d33ca | 40 | #define BLUETOOTH_TX p28 |
bluefish | 2:9c83de2d33ca | 41 | |
bluefish | 0:c86a79c8b787 | 42 | #define NEOPIXEL_DOUT (p21) |
bluefish | 0:c86a79c8b787 | 43 | |
bluefish | 0:c86a79c8b787 | 44 | #define DEVID_LEFT (0x01) |
bluefish | 0:c86a79c8b787 | 45 | #define DEVID_RIGHT (0x04) |
bluefish | 0:c86a79c8b787 | 46 | |
bluefish | 0:c86a79c8b787 | 47 | typedef struct _STRUCTSENSOR{ |
bluefish | 0:c86a79c8b787 | 48 | float acc[3]; |
bluefish | 0:c86a79c8b787 | 49 | float gyro[3]; |
bluefish | 0:c86a79c8b787 | 50 | float mag[3]; |
bluefish | 0:c86a79c8b787 | 51 | } STRUCTSENSOR; |
bluefish | 0:c86a79c8b787 | 52 | |
bluefish | 0:c86a79c8b787 | 53 | typedef struct _STRUCTPOSTURE{ |
bluefish | 0:c86a79c8b787 | 54 | float angle; |
bluefish | 2:9c83de2d33ca | 55 | float angle_vel; |
bluefish | 0:c86a79c8b787 | 56 | float wheel[2]; |
bluefish | 0:c86a79c8b787 | 57 | float wheel_vec[2]; |
bluefish | 0:c86a79c8b787 | 58 | } STRUCTPOSTURE; |
bluefish | 0:c86a79c8b787 | 59 | |
bluefish | 0:c86a79c8b787 | 60 | typedef struct _STRUCTCONRTOLPARAM{ |
bluefish | 0:c86a79c8b787 | 61 | float K_angle; |
bluefish | 0:c86a79c8b787 | 62 | float K_angle_vel; |
bluefish | 0:c86a79c8b787 | 63 | float K_wheel; |
bluefish | 0:c86a79c8b787 | 64 | float K_wheel_vel; |
bluefish | 0:c86a79c8b787 | 65 | float K_rot_vel; |
bluefish | 0:c86a79c8b787 | 66 | float K_trans_vel; |
bluefish | 0:c86a79c8b787 | 67 | } STRUCTCONRTOLPARAM; |
bluefish | 0:c86a79c8b787 | 68 | |
bluefish | 2:9c83de2d33ca | 69 | typedef struct _STRUCTPAD{ |
bluefish | 2:9c83de2d33ca | 70 | uint8_t enable; // 制御許可(0=制御しない 1=制御する) |
bluefish | 2:9c83de2d33ca | 71 | float x; // X軸値( -1.0~1.0 0.0で中立 ) |
bluefish | 2:9c83de2d33ca | 72 | float y; // Y軸値( -1.0~1.0 0.0で中立 ) |
bluefish | 2:9c83de2d33ca | 73 | } STRUCTPAD; |
bluefish | 2:9c83de2d33ca | 74 | |
bluefish | 0:c86a79c8b787 | 75 | extern STRUCTSENSOR sensor; |
bluefish | 0:c86a79c8b787 | 76 | extern STRUCTPOSTURE posture; |
bluefish | 0:c86a79c8b787 | 77 | extern STRUCTCONRTOLPARAM control; |
bluefish | 2:9c83de2d33ca | 78 | extern STRUCTPAD pad; |
bluefish | 0:c86a79c8b787 | 79 | |
bluefish | 0:c86a79c8b787 | 80 | //extern Ticker tic_sen_ctrl; |
bluefish | 0:c86a79c8b787 | 81 | //extern CAN can_driver; |
bluefish | 0:c86a79c8b787 | 82 | //extern MPU9250 imu; |
bluefish | 0:c86a79c8b787 | 83 | //extern DFPlayerMini player; |
bluefish | 0:c86a79c8b787 | 84 | |
bluefish | 0:c86a79c8b787 | 85 | #endif |