Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

realtime.h@12:721a9ea55e91, 2018-11-03 (annotated)

Committer:
dima285
Date:
Sat Nov 03 11:43:03 2018 +0000
Revision:
12:721a9ea55e91
Parent:
10:5bdd3dfd5f59
Child:
13:789b451cc27d
rabotaet;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stas285 0:e9488589a8ee 1 Ticker rt_ticker;
Stas285 4:904b737ef08a 2 bool realtime_flag;
dima285 12:721a9ea55e91 3 /*float balance_prop = 0.8;
dima285 12:721a9ea55e91 4 float balance_diff = 1.2;
dima285 12:721a9ea55e91 5 float x_prop = 40;
dima285 12:721a9ea55e91 6 float x_diff = 25;
dima285 12:721a9ea55e91 7 float azimuth_prop = 0.8;
dima285 12:721a9ea55e91 8 float azimuth_diff = 0.65;*/
Stas285 0:e9488589a8ee 9
dima285 12:721a9ea55e91 10 void balance()
dima285 12:721a9ea55e91 11 {
dima285 12:721a9ea55e91 12 float a = x_prop * (current.x - target.x) + x_diff * current.speed;
dima285 12:721a9ea55e91 13 if (a > max_accel) a = max_accel ; if (a < -max_accel) a = -max_accel;
dima285 12:721a9ea55e91 14 float delta_v = (2*balance_prop*ax + balance_diff*5.73*gy - a) * t_step;
dima285 12:721a9ea55e91 15
dima285 12:721a9ea55e91 16 set_motor_speed(motor_speed[0] - delta_v, motor_speed[1] - delta_v);
dima285 12:721a9ea55e91 17
dima285 12:721a9ea55e91 18 wifi.printf("%.2f %.2f %.2f %.2f;",a,gy,ax,delta_v*100);
dima285 12:721a9ea55e91 19 }
dima285 12:721a9ea55e91 20
dima285 9:8f98b1c277a4 21
Stas285 4:904b737ef08a 22 void realtime(){ //35uS - (3.5mS @ 115200) - (500uS @ 921600) (w/o sin,cos)
dima285 12:721a9ea55e91 23 /* float path_error = target_path-current_path;
dima285 12:721a9ea55e91 24 float target_speed = 0.1*path_error;//1m/s at 10cm
dima285 12:721a9ea55e91 25 float linear_acceleration = 1*(target_speed-current_speed);*/
dima285 12:721a9ea55e91 26
Stas285 0:e9488589a8ee 27
dima285 12:721a9ea55e91 28 realtime_flag = 1;
dima285 12:721a9ea55e91 29 }
dima285 12:721a9ea55e91 30
dima285 12:721a9ea55e91 31 void realtime_init(){
dima285 12:721a9ea55e91 32 rt_ticker.attach(&realtime, t_step); }
dima285 12:721a9ea55e91 33
dima285 12:721a9ea55e91 34
Stas285 0:e9488589a8ee 35