File content as of revision 17:8e2824f64b91:

/*
    BroBOT Running the mBed RTOS
    Authors: Arvind Ramesh and Carter Sharer
*/

//Added communication protocol v1 (no type selection)
//Knob1 39.898 Knob2 44.381 Knob3 10.55 Knob4 18.67
//Knob1 13.418 Knob2 28.848 Knob3 9.45  Knob4 42.29 Good
//Knob1 15.373 Knob2 28.261 Knob3 10.42 Knob4 40.97 Smoother

/******************************* README USAGE *******************************
* This robot must be powered on while it is laying down flat on a still table
* This allows the robot to calibrate the IMU (~5 seconds)
* The motors are DISABLED when the robot tilts more then +-45 degrees from
* vertical.  To ENABLE the motors you must lift the robot to < +- 45 degres and
* press the joystick button.
* To reset the motor positions you must press the josystick button anytime.
******************************************************************************/

//Controller Values
float knob1, knob2, knob3, knob4;
float jstick_h, jstick_v;

//Button
bool button;

//BroBot Begin
#include "cmsis_os.h"
#include "rtos_definations.h"
#include "pin_assignments.h"
#include "I2Cdev.h"
#include "JJ_MPU6050_DMP_6Axis.h"
#include "BroBot.h"
#include "BroBot_IMU.h"
#include "stepper_motors.h"
#include "MRF24J40.h"
#include "communication.h"
#include "waypoint.h"

//Angle Offset is used to set the natural balance point of your robot.
//You should adjust this offset so that your robots balance points is near 0
#define ANGLE_OFFSET 107
#define THETA_OFFSET 0//165
#define MRF_CHANNEL 2

//For RF Communication
#define JSTICK_H 8
#define JSTICK_V 9
#define SPACE 10
#define KNOB1 11
#define KNOB2 12
#define KNOB3 13
#define KNOB4 14
#define ANGLE 15
#define BUTTON 16
#define JSTICK_OFFSET 100
#define TX_BUFFER_LEN 18
#define TX_ANGLE_OFFSET 100
//Knobs
#define POT1 p17
#define POT2 p18
#define POT3 p16
#define POT4 p15
//JoyStick
#define POTV p19
#define POTH p20

//PID
#define MAX_THROTTLE 580
#define MAX_STEERING 150
#define MAX_TARGET_ANGLE 12
#define KP 0.19
#define KD 28
#define KP_THROTTLE 0.01 //0.07    
#define KI_THROTTLE 0//0.04
#define ITERM_MAX_ERROR 25   // Iterm windup constants for PI control //40
#define ITERM_MAX 8000       // 5000


#define THROTTLE_DAMPNER 100
#define STREEING_DAMPNER 10000
#define VELOCITY_SAMPLES 10



//*********** Local Function Definations BEGIN **************//
void init_system();
void init_imu();
//*********** Local Function Definations END **************//

Timer timer;
int timer_value = 0;
int timer_old = 0;
float angle = 0;
float theta = 0;
float totalTheta = 0;
float deltaTheta = 0;
float velocitySamples[VELOCITY_SAMPLES + 1] = {0.0};

float target_pos = 0;
float pos_error = 0;

Serial pc(USBTX, USBRX);

// LEDs
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);


//Blue = IMU Intr




//Used to set angle upon startup
bool initilizeAngle;
bool initilizeTheta;

// ================================================================
// ===                      IMU Thread                          ===
// ================================================================
void imu_update_thread(void const *args)
{   
    float dAngle = 0;
    float dTheta = 0;
    float new_angle = 0;
    float new_theta = 0;
    long long timeOut = 0;
    
   
    pc.printf("Starting IMU Thread..\r\n");
    while (1) {
        osSignalWait(IMU_UPDATE_SIGNAL,osWaitForever);
        pin_30 = 1;
        if(mpuInterrupt) {
            mpuInterrupt = false;
            led3 = !led3;
            /********************* All IMU Handling DO NOT MODIFY *****************/
            //Disable IRQ
            //checkpin.rise(NULL);

            //reset interrupt flag and get INT_STATUS byte

            mpuIntStatus = mpu.getIntStatus();

            //get current FIFO count
            fifoCount = mpu.getFIFOCount();

            // check for overflow (this should never happen unless our code is too inefficient)
            if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
                // reset so we can continue cleanly
                mpu.resetFIFO();
                pc.printf("MPU FIFO overflow!");
                //otherwise, check for DMP data ready interrupt (this should happen frequently)
            } else if (mpuIntStatus & 0x02) {
                //wait for correct available data length, should be a VERY short wait
                timeOut = 0;
                while (fifoCount < packetSize) {
                    timeOut++;
                    fifoCount = mpu.getFIFOCount();
                    if(timeOut > 100000000){
                        break;
                    }
                }

                //read a packet from FIFO
                mpu.getFIFOBytes(fifoBuffer, packetSize);

                //track FIFO count here in case there is > 1 packet available
                //(this lets us immediately read more without waiting for an interrupt)
                fifoCount -= packetSize;

                //Read new angle from IMU
                dmpGetReadings(&new_angle,&new_theta);
                new_angle = (float)(new_angle - ANGLE_OFFSET);
                new_theta = float(new_theta + THETA_OFFSET);
                //pc.printf("Angle: %f\r\n",new_angle);
                //pc.printf("Theta: %f\r\n",new_theta);
                
                //Calculate the delta angle
                dAngle = new_angle - angle;
                dTheta = new_theta - theta;

                //Filter out angle readings larger then MAX_ANGLE_DELTA
                if(initilizeAngle) {
                    angle = new_angle;
                    initilizeAngle = false;
                    pc.printf("\t\t\t Setting Initial Value: %f\r\n",angle);
                } else if( ((dAngle < 15) && (dAngle > -15))) {
                    angle = new_angle;
                    theta = new_theta;
                } else {
                    pc.printf("\t\t\t Delta Angle too Large: %f. Ignored \r\n",dAngle);
                    pc.printf("\t\t\t New Angle: %f Old Angle: %f\r\n",new_angle,angle);
                }
                
                if(initilizeTheta) {
                    theta = new_theta;
                    initilizeTheta = false;
                } else if( ((dTheta < 15) && (dTheta > -15))) {
                    theta = new_theta;
                } else {
                    //pc.printf("\t\t\t Delta Theta too Large: %f. Ignored \r\n",dTheta);
                    //pc.printf("\t\t\t New Theta: %f Old Theta: %f\r\n",new_theta,theta);
                    theta = new_theta;
                    dTheta = dTheta > 0 ? -1 : 1;
                    dTheta = 1;
                }
                 totalTheta += dTheta;
                  //pc.printf("Total Theta: %f\r\n",totalTheta);
            }
            else{
                pc.printf("\t\t\t IMU Error. MPU Status: %d!!\r\n",mpuIntStatus);
            }
            pin_30 = 0;
            /********************* All IMU Handling DO NOT MODIFY *****************/
        }//End of if(mpuInterrupt) loop
        osSignalClear(imu_update_thread_ID,IMU_UPDATE_SIGNAL);
        osSignalSet(pid_update_thread_ID,PID_UPDATE_SIGNAL);
    }
}

// ================================================================
// ===                      PID Thread                          ===
// ================================================================
void pid_update_thread(void const *args)
{

    float Kp1 = 0;
    float Kd1 = 0;
    float Kp2 = 0;
    float Kd2 = 0;
    float target_angle = 0;
    float target_angle_old = 0;
    float change_in_target_angle = 0;
    float change_in_angle = 0;
    float angle_old1 = 0;
    float angle_old2 = 0;
    float kp_term = 0;
    float kd_term = 0;
    float throttle = 0;
    float steering = 0;
    float steering_output = 0;
    float control_output = 0;
    int robot_pos = 0;
    //int loop_counter = 0;
    int velocitySamplesCounter = 0;
    int dt = 0;
    float error = 0;
    float velocity = 0;
    bool fallen = true;
    
    // --- For Position controller  --- //
   
    float kp_pos_term = 0;
    float kd_pos_term = 0;
    float change_in_target_pos = 0;
    
    float target_pos_old = 0;
    float target_velocity = 0;
    float velocity_error = 0;
    float change_in_velocity = 0;
    float d_velocity = 0;
    
    float runningSumReplaceVal = 0;
    float newVelocity = 0;
    float angle_old = 0;
    
    float velocitySum = 0;
    float theta_error = 0;
    float target_theta = 0;
    memset(velocitySamples,0,sizeof(velocitySamples));
    pc.printf("Starting PID Thread..\r\n");
    while(1) {
         osSignalWait(PID_UPDATE_SIGNAL,osWaitForever);
          pin_5 = 1;
         //Button Press on the remote initilizes the robot position.
        if(button) {
            pos_M1 = 0;
            pos_M2 = 0;
            target_pos = 0;
            motor1 = 0;
            motor2 = 0;
            control_output = 0;
            totalTheta = 0;
            target_theta = 0;
            steering_output = 0;
            fallen = false;
        }
        //Get the time stamp as soon as it enters the loop
        timer_value = timer.read_us();
        //led1 = led1^1;
        led4 = !fallen;
        led2 = button;

        if(jstick_v > 80)
            led3 = 1;
        else
            led3 = 0;

        //Preset Knob Values for Green Balance Bot
        //knob1 = 1.132;
        //knob2 = 47.284;
        //knob3 = 18.46;
        //knob4 = 17.07;

        //Set Gainz with knobs
        Kp1 = ((float)knob1);// / 100.0;
        Kd1 = ((float)knob2);// / 1.0;
        Kp2 = ((float)knob3);// / 1000.0;
        Kd2 = ((float)knob4);// / 100.0;

        //Joystick control
        //throttle = (float)jstick_v / THROTTLE_DAMPNER;
        //steering = (float)jstick_h / STREEING_DAMPNER;

        //Calculate the delta time
        dt = (timer_value - timer_old);
        timer_old = timer_value;
        angle_old = angle;
        
        // STANDING: Motor Control Enabled
        //******************** PID Control BEGIN ********************** //
        if(((angle < 45) && (angle > -45)) && (fallen == false)) {
         //if(0){
            //loop_counter++;
            //CS Pd Target Angle Contoller Goes Here

            //Robot Position
            robot_pos = (pos_M1 + pos_M2) / 2;
            //target_pos += throttle/2;
    
            //Velocity Computation
            velocitySamplesCounter++;
            if(velocitySamplesCounter == VELOCITY_SAMPLES){
                velocitySamplesCounter = 0;
            }
            runningSumReplaceVal = velocitySamples[velocitySamplesCounter]; //value to replace
            newVelocity = (motor1 + motor2) / 2;           
            velocitySamples[velocitySamplesCounter] = newVelocity; //replace value with
            velocitySum = velocitySum - runningSumReplaceVal + newVelocity;
            velocity = velocitySum/VELOCITY_SAMPLES;
            
            // ***************** Angular Controller *********************
            
            float Kp1A = 0;//Kp1/100;
            target_theta += steering;
            theta_error =  totalTheta - target_theta;
            steering_output = -Kp1A * theta_error;
            
            // ***************** Position Controller *********************
            float Kp1P = Kp2/100;
            float Kd1P = Kd2;
            //Kp1P = ;//5.73/100;
            //target_pos = 0;
            pos_error = robot_pos - target_pos; //robot_pos - target_pos;

            //KP Term
            kp_pos_term = Kp1P * pos_error;

            //KD Term
            change_in_target_pos = target_pos - target_pos_old;
            //kd_pos_term = ((-Kd2 * change_in_target_pos) + (-Kd2*change_in_pos)) /dt;
            kd_pos_term = ((Kd1P * change_in_target_pos) + (Kd1P*velocity));
            target_velocity = kp_pos_term; // + kd_pos_term;
            target_velocity = CAP(target_velocity, 100);

            //CS ***************** Velocity Controller *********************
            float Kp2V = Kp2/100;
            float Kd2V = Kd2;
            Kp2V = 31.81/100;
            Kd2V = 17.5;
            //target_velocity = throttle;
            velocity_error = target_velocity - velocity;
            change_in_velocity = velocity - velocitySamples[(velocitySamplesCounter + 5)%VELOCITY_SAMPLES];
            d_velocity = (Kd2V * change_in_velocity)/dt;
            
            target_angle = (-velocity_error * Kp2V)+ d_velocity;    
            //CS ************ PD Stability CONTROLLER HERE ****************
            float Kp1S = Kp1/10; //7.373/1000.0;
            float Kd1S = Kd1*100; //50.986/1.0;
           // Kp1S = 3.48/1000;
            //Kd1S = 44.5;
            
            error = target_angle - angle;
            kp_term = Kp1S * error;

            change_in_target_angle = target_angle - target_angle_old; //add
            change_in_angle = angle - angle_old2; //add
            kd_term = ((Kd1S * change_in_target_angle) - (Kd1S*change_in_angle)) / dt;
            //kd_term = ((Kd1 * change_in_target_angle) - (Kd1*velocity));

            //pc.printf("dAngle:%f\r\n", angle-angle_old1);

            //Control Output
            control_output += kp_term + kd_term; //-100 to 100
            control_output = CAP(control_output, MAX_CONTROL_OUTPUT); // Limit max output from control
            motor1 = (int16_t)(control_output + (steering_output));
            motor2 = (int16_t)(control_output - (steering_output));
            motor1 = CAP(motor1, MAX_CONTROL_OUTPUT);
            motor2 = CAP(motor2, MAX_CONTROL_OUTPUT);

            //Update variables
            target_angle_old = target_angle;
            angle_old2 = angle_old1;
            angle_old1 = angle;

            //Enable Motors 
            enable = ENABLE;
            setMotor1Speed(-motor1);
            setMotor2Speed(-motor2);
            //robot_pos += (-motor1 + -motor2) / 2;
            //pc.printf("m1: %d m2: %d angle: %0.1f, controlout: %f tAngle: %f dt: %f timer: %d \r\n", motor1, motor2, angle, control_output, target_angle, dt, timer_value);
            
            if(abs(motor1) == MAX_CONTROL_OUTPUT || abs(motor2) == MAX_CONTROL_OUTPUT) {
                pc.printf("Max Speed Reached. Killing the Robot\n");
                enable = DISABLE;
                fallen = true;
            }
        } else { //[FALLEN}
            //Disable Motors
            enable = DISABLE;

            //Set fallen flag
            fallen = true;
        }
        /*if(loop_counter >= 20) {
            loop_counter = 0;
            //pc.printf("Target Vel: %f\r\n",target_velocity);            
            //pc.printf("angle:%d Kp1: %0.3f Kd1: %0.2f  Kp2: %0.2f Kd2: %0.3f  tang: %0.2f dt:%d rob_pos: %d VE: %f\r\n", (int)angle, Kp1, Kd1, Kp2, Ki2, target_angle, dt, robot_pos, velocity_error);
            //pc.printf("Jstick_h: %d Jstick_v: %d Knob1 %d Knob2 %d Knob3 %d Knob4 %d Button: %d\r\n", jstick_h, jstick_v, knob1, knob2, knob3, knob4, button);
            //pc.printf("CAngle: %d, TAngle: %d,Pos: %d, dt: %d\r\n",(int)angle,target_angle,robot_pos,dt);
            //wait_us(200);
        }*/
         pin_5 = 0;
         osSignalClear(pid_update_thread_ID,PID_UPDATE_SIGNAL);
        //osSignalSet(communication_update_thread_ID,COMMUNIATION_UPDATE_SIGNAL);
    } //end main loop

}

// ================================================================
// ===                Communication Thread                      ===
// ================================================================
void communication_update_thread(void const *args)
{
    pc.printf("Starting Communication Thread..\r\n");
    while(1) {
        //osSignalWait(COMMUNIATION_UPDATE_SIGNAL,osWaitForever);
        //Recieve Data
        pin_6 = 1;
        rxLen = rf_receive(rxBuffer, 128);
        if(rxLen > 0) {
            led1 = led1^1;
            //Process data with our protocal
            communication_protocal(rxLen);
        }
        pin_6 = 0;
       //osSignalClear(communication_update_thread_ID,COMMUNIATION_UPDATE_SIGNAL);
    }
}

// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================
void init_imu()
{
    pc.printf("Start IMU Initilization.. \r\n");

    // Manual MPU initialization... accel=2G, gyro=2000º/s, filter=20Hz BW, output=200Hz
    mpu.setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
    mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
    mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
    mpu.setDLPFMode(MPU6050_DLPF_BW_10);  //10,20,42,98,188  // Default factor for BROBOT:10
    mpu.setRate(4);   // 0=1khz 1=500hz, 2=333hz, 3=250hz [4=200hz]default
    mpu.setSleepEnabled(false);
    wait_ms(500);

    // load and configure the DMP
    devStatus = mpu.dmpInitialize();
    if(devStatus == 0) {
        mpu.setDMPEnabled(true);
        mpuIntStatus = mpu.getIntStatus();
        dmpReady = true;
    } else {
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        pc.printf("DMP INIT error \r\n");
    }

    //Gyro Calibration
    wait_ms(500);
    pc.printf("Gyro calibration!!  Dont move the robot in 1 second... \r\n");
    wait_ms(500);

    // verify connection
    pc.printf(mpu.testConnection() ? "Connection Good \r\n" : "Connection Failed\r\n");

    //Adjust Sensor Fusion Gain
    dmpSetSensorFusionAccelGain(0x20);

    wait_ms(200);
    mpu.resetFIFO();
}

void init_system()
{
    initilizeAngle = true;
    initilizeTheta = true;
    totalTheta = 0;
    target_pos = 0;
    pos_error = 0;
    //Set the Channel. 0 is default, 15 is max
    mrf.SetChannel(MRF_CHANNEL);
    enable = DISABLE; //Disable Motors
    pc.baud(115200);
    pc.printf("Booting BroBot mbed RTOS..\r\n");


    //Initilize the IMU
    init_imu();
    //Attach Interupt for IMU on rising edge of checkpin
    checkpin.rise(&dmpDataReady);
    pc.printf("IMU Initilized..\r\n");

    //Init Stepper Motors
    //Attach Motor Control Timer Call Back Functions
    timer_M1.attach_us(&ISR1, ZERO_SPEED);//1s Period
    timer_M2.attach_us(&ISR2, ZERO_SPEED);//1s Period
    step_M1 = 1;
    dir_M1 = 1;
    pc.printf("Motors Initilized..\r\n");

    //Timers initilized
    timer.start();
    timer_value = timer.read_us();

    //Init GPIO Monitors


    enable = ENABLE; //Enable Motors
}

// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================


int main()
{

    init_system();

    //Create IMU Thread
    imu_update_thread_ID = osThreadCreate(osThread(imu_update_thread), NULL);

    //Create PID Thread
    pid_update_thread_ID = osThreadCreate(osThread(pid_update_thread), NULL);

    //Create Communication Thread
    communication_update_thread_ID = osThreadCreate(osThread(communication_update_thread), NULL);
    

} //End Main()