2-wheel Inverted Pendulum control program
Dependencies: AsyncSerial Lib_DFPlayerMini Lib_MPU9250_SPI mbed
defines.h@7:77174a098e6f, 2018-05-02 (annotated)
- Committer:
- bluefish
- Date:
- Wed May 02 10:57:10 2018 +0000
- Revision:
- 7:77174a098e6f
- Parent:
- 6:a5f674c2f262
for peshala project
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
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 | 6:a5f674c2f262 | 7 | #include "Lib_DFPlayerMini.h" |
bluefish | 6:a5f674c2f262 | 8 | #include "Lib_MPU9250.h" |
bluefish | 6:a5f674c2f262 | 9 | #include "filter_func.h" |
bluefish | 0:c86a79c8b787 | 10 | |
bluefish | 7:77174a098e6f | 11 | // compile option |
bluefish | 7:77174a098e6f | 12 | //#define USE_SERIAL_DEBUG |
bluefish | 7:77174a098e6f | 13 | #define USE_LED_DEBUG |
bluefish | 6:a5f674c2f262 | 14 | #define USE_FILESYSTEM |
bluefish | 7:77174a098e6f | 15 | #define USE_FIRST_IMU |
bluefish | 7:77174a098e6f | 16 | #define USE_SECOND_IMU |
bluefish | 7:77174a098e6f | 17 | #define USE_MOTOR_CONTROL |
bluefish | 7:77174a098e6f | 18 | #define USE_STEER_CONTROL |
bluefish | 0:c86a79c8b787 | 19 | |
bluefish | 0:c86a79c8b787 | 20 | #ifdef USE_SERIAL_DEBUG |
bluefish | 0:c86a79c8b787 | 21 | #define DEBUG_BAUDRATE 115200 |
bluefish | 0:c86a79c8b787 | 22 | AsyncSerial usb_serial( USBTX, USBRX ); |
bluefish | 0:c86a79c8b787 | 23 | #endif |
bluefish | 0:c86a79c8b787 | 24 | |
bluefish | 0:c86a79c8b787 | 25 | #ifdef USE_LED_DEBUG |
bluefish | 0:c86a79c8b787 | 26 | DigitalOut myled[4] = { LED1, LED2, LED3, LED4 }; |
bluefish | 0:c86a79c8b787 | 27 | #endif |
bluefish | 0:c86a79c8b787 | 28 | |
bluefish | 0:c86a79c8b787 | 29 | #define PROCESS_INTERVAL_SEC (0.01f) |
bluefish | 0:c86a79c8b787 | 30 | |
bluefish | 0:c86a79c8b787 | 31 | #define CAN_RX (p30) |
bluefish | 0:c86a79c8b787 | 32 | #define CAN_TX (p29) |
bluefish | 0:c86a79c8b787 | 33 | |
bluefish | 6:a5f674c2f262 | 34 | #define MPU9250_CS (p7) |
bluefish | 6:a5f674c2f262 | 35 | #define MPU9250_MOSI (p11) |
bluefish | 6:a5f674c2f262 | 36 | #define MPU9250_MISO (p12) |
bluefish | 6:a5f674c2f262 | 37 | #define MPU9250_SCK (p13) |
bluefish | 6:a5f674c2f262 | 38 | #define MPU9250_INT (p8) |
bluefish | 0:c86a79c8b787 | 39 | |
bluefish | 6:a5f674c2f262 | 40 | #define MPU9250_SDA (p9) |
bluefish | 6:a5f674c2f262 | 41 | #define MPU9250_SCL (p10) |
bluefish | 0:c86a79c8b787 | 42 | |
bluefish | 6:a5f674c2f262 | 43 | #define DFPLAYER_RX (p27) |
bluefish | 6:a5f674c2f262 | 44 | #define DFPLAYER_TX (p28) |
bluefish | 6:a5f674c2f262 | 45 | #define DFPLAYER_BUSY (p18) |
bluefish | 2:9c83de2d33ca | 46 | |
bluefish | 0:c86a79c8b787 | 47 | #define NEOPIXEL_DOUT (p21) |
bluefish | 0:c86a79c8b787 | 48 | |
bluefish | 0:c86a79c8b787 | 49 | #define DEVID_LEFT (0x01) |
bluefish | 0:c86a79c8b787 | 50 | #define DEVID_RIGHT (0x04) |
bluefish | 0:c86a79c8b787 | 51 | |
bluefish | 0:c86a79c8b787 | 52 | typedef struct _STRUCTSENSOR{ |
bluefish | 0:c86a79c8b787 | 53 | float acc[3]; |
bluefish | 0:c86a79c8b787 | 54 | float gyro[3]; |
bluefish | 0:c86a79c8b787 | 55 | float mag[3]; |
bluefish | 0:c86a79c8b787 | 56 | } STRUCTSENSOR; |
bluefish | 0:c86a79c8b787 | 57 | |
bluefish | 0:c86a79c8b787 | 58 | typedef struct _STRUCTPOSTURE{ |
bluefish | 0:c86a79c8b787 | 59 | float angle; |
bluefish | 2:9c83de2d33ca | 60 | float angle_vel; |
bluefish | 0:c86a79c8b787 | 61 | float wheel[2]; |
bluefish | 0:c86a79c8b787 | 62 | float wheel_vec[2]; |
bluefish | 0:c86a79c8b787 | 63 | } STRUCTPOSTURE; |
bluefish | 0:c86a79c8b787 | 64 | |
bluefish | 0:c86a79c8b787 | 65 | typedef struct _STRUCTCONRTOLPARAM{ |
bluefish | 7:77174a098e6f | 66 | float K_angle; |
bluefish | 7:77174a098e6f | 67 | float K_angle_vel; |
bluefish | 7:77174a098e6f | 68 | float K_wheel; |
bluefish | 7:77174a098e6f | 69 | float K_wheel_vel; |
bluefish | 7:77174a098e6f | 70 | float K_rot_vel; |
bluefish | 7:77174a098e6f | 71 | float K_trans_vel; |
bluefish | 7:77174a098e6f | 72 | float C_max_angle; |
bluefish | 7:77174a098e6f | 73 | float C_offset_angle; |
bluefish | 0:c86a79c8b787 | 74 | } STRUCTCONRTOLPARAM; |
bluefish | 0:c86a79c8b787 | 75 | |
bluefish | 7:77174a098e6f | 76 | typedef struct _STRUCTGAMEPAD{ |
bluefish | 7:77174a098e6f | 77 | float x_raw; |
bluefish | 7:77174a098e6f | 78 | float y_raw; |
bluefish | 7:77174a098e6f | 79 | float x_filtered; |
bluefish | 7:77174a098e6f | 80 | float y_filtered; |
bluefish | 7:77174a098e6f | 81 | float C_dead_angle; |
bluefish | 7:77174a098e6f | 82 | float C_max_angle; |
bluefish | 7:77174a098e6f | 83 | } STRUCTGAMEPAD; |
bluefish | 7:77174a098e6f | 84 | |
bluefish | 6:a5f674c2f262 | 85 | extern STRUCTSENSOR sensor_vehicle; |
bluefish | 6:a5f674c2f262 | 86 | extern STRUCTSENSOR sensor_interface; |
bluefish | 0:c86a79c8b787 | 87 | extern STRUCTPOSTURE posture; |
bluefish | 0:c86a79c8b787 | 88 | extern STRUCTCONRTOLPARAM control; |
bluefish | 7:77174a098e6f | 89 | extern STRUCTGAMEPAD pad; |
bluefish | 7:77174a098e6f | 90 | |
bluefish | 0:c86a79c8b787 | 91 | |
bluefish | 0:c86a79c8b787 | 92 | //extern Ticker tic_sen_ctrl; |
bluefish | 0:c86a79c8b787 | 93 | //extern CAN can_driver; |
bluefish | 0:c86a79c8b787 | 94 | //extern MPU9250 imu; |
bluefish | 0:c86a79c8b787 | 95 | //extern DFPlayerMini player; |
bluefish | 0:c86a79c8b787 | 96 | |
bluefish | 0:c86a79c8b787 | 97 | #endif |