Jasen Ong
NYP_Auto-Balancing_Robot_FYP_2018
Dependencies: C12832 MPU6050 mbed
Revision 0:9dc7ab9daa11, committed 2018-08-22
- Comitter:
- gemsdare
- Date:
- Wed Aug 22 11:34:26 2018 +0000
- Commit message:
- NYP_Auto-Balancing_Robot_FYP_2018
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/C12832.lib Wed Aug 22 11:34:26 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/askksa12543/code/C12832/#990d5eec2ef6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Wed Aug 22 11:34:26 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/garfieldsg/code/MPU6050/#1e0baaf91e96
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Aug 22 11:34:26 2018 +0000
@@ -0,0 +1,69 @@
+#include "mbed.h"
+#include "MPU6050.h"
+#include "C12832.h"
+
+AnalogOut Aout(p18);
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);
+MPU6050 mpu;
+C12832 lcd(p5, p7, p6, p8, p11);
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+
+float k=0.5;
+float x=0;
+float xout=0,xold=0;
+float x_prev=0;
+float sum =0;
+float diff =0;
+float gain_prop = 1;
+float gain_int = 0.0066;
+float gain_diff = 0.000028;
+
+
+int main()
+{
+ lcd.printf("MPU6050 test\n\n");
+ lcd.printf("MPU6050 initialize \n");
+
+ mpu.initialize();
+
+ pc.printf("MPU6050 testConnection \n");
+
+ bool mpu6050TestResult = mpu.testConnection();
+ if(mpu6050TestResult) {pc.printf("MPU6050 test passed \n");}
+ else {pc.printf("MPU6050 test failed \n");}
+ float proportional,integral=0;
+ float prop=0;
+ float xAcc = 0;
+ unsigned char i;
+ signed int Reading, xsum=0;
+ lcd.cls();
+ while(1)
+ {
+ mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+ //lcd.locate(0,15);
+ //writing current accelerometer and gyro position
+ for(i=1; i<5; i++)
+ {
+ Reading = ay;
+ xsum += Reading;
+ }
+ xAcc=Reading*0.0001/4;
+ //x=ay*0.0001;
+ diff=gx*0.001;
+ proportional = 1.0 + xAcc * 1.31;/*x*/
+ prop = proportional/3.3;
+ sum = sum + xAcc ;/*x*/
+ integral = sum;
+ xout = prop*gain_prop + integral*gain_int + diff*gain_diff;
+ xout=0.5*(xold) +(1-0.5)*xout;
+ Aout=xout;
+ xold=xout;
+
+
+ //lcd.printf(" Xaxis :%.5f",proportional);
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Aug 22 11:34:26 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a7c7b631e539 \ No newline at end of file