Raynaud Gilles / Mbed OS VITI_motor_angle_3

angle3

Dependencies:   LSM9DS1 TB5649

main.cpp@8:41752698aa35, 2020-05-23 (annotated)

Committer:
gr66
Date:
Sat May 23 16:15:40 2020 +0000
Revision:
8:41752698aa35
Parent:
7:f5c5cf499311
Child:
9:2a16e3930e1d
18:15

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gr66 2:952d41c26b43 1 // test avec RTOS
gr66 6:65c511f6f1fc 2 #define viti 0 // 1 montage viti ; 0 montage sur table
gr66 0:a2296270a125 3 #include "mbed.h"
gr66 0:a2296270a125 4 #include "LSM9DS1.h"
gr66 0:a2296270a125 5
gr66 0:a2296270a125 6
gr66 0:a2296270a125 7
gr66 0:a2296270a125 8 #include "TB6549.h"
gr66 0:a2296270a125 9
gr66 5:d51ba8e93d10 10 #define dt0 0.01 // pas d'integration
gr66 5:d51ba8e93d10 11 #define FDC_PLUS 0.9 // fin de course +
gr66 5:d51ba8e93d10 12 #define FDC_MOINS 0.1 // din de course -
gr66 5:d51ba8e93d10 13 #define ZM 2 // zone morte +/- zm
gr66 5:d51ba8e93d10 14 #define SP 0.5 // pwm moteur en % (0-1)
gr66 5:d51ba8e93d10 15
gr66 8:41752698aa35 16 void calcul(void);
gr66 0:a2296270a125 17 DigitalOut Led0(LED1);
gr66 0:a2296270a125 18
gr66 0:a2296270a125 19 Serial pc(SERIAL_TX, SERIAL_RX,115200);
gr66 5:d51ba8e93d10 20
gr66 0:a2296270a125 21 LSM9DS1 DOF(PB_9, PB_8, 0xD4, 0x38);
gr66 4:b40027cb3012 22 Thread thread (osPriorityAboveNormal);
gr66 8:41752698aa35 23 EventQueue queue;
gr66 0:a2296270a125 24
gr66 0:a2296270a125 25 AnalogIn verin(PC_3); // lecture pos verin
gr66 0:a2296270a125 26 AnalogOut ana (PA_5); // pour debug analogique ISR
gr66 0:a2296270a125 27 Motor motor(PB_4,PA_1,PA_4,PC_7);
gr66 5:d51ba8e93d10 28 Timer tt;
gr66 8:41752698aa35 29 Ticker tic;
gr66 5:d51ba8e93d10 30
gr66 0:a2296270a125 31 int flag_affich=0;
gr66 0:a2296270a125 32 int flag_imu=0;
gr66 0:a2296270a125 33 double pi= 3.1415926535897932;
gr66 0:a2296270a125 34 double gx_off=0,gy_off=0,gz_off=0;
gr66 0:a2296270a125 35 double ang_off=0;
gr66 8:41752698aa35 36 //
gr66 3:d552b7419f51 37 double ang;
gr66 3:d552b7419f51 38 // fitres complémentaires
gr66 3:d552b7419f51 39 double Fc=0.05;
gr66 5:d51ba8e93d10 40 double RC ; //calcul de RC
gr66 5:d51ba8e93d10 41 double a0; //calcul du coefficient a du filtre
gr66 5:d51ba8e93d10 42 double b0; //calcul du coefficient b du filtre
gr66 5:d51ba8e93d10 43 double a1; //calcul du coefficient a du filtre
gr66 0:a2296270a125 44
gr66 3:d552b7419f51 45 double angle_acce_pred=0.0f;
gr66 3:d552b7419f51 46 double angle_acce=0.0f;
gr66 3:d552b7419f51 47 double angle_acce_f_pred=0.0f;
gr66 3:d552b7419f51 48 double angle_acce_f=0.0f;
gr66 3:d552b7419f51 49 //
gr66 3:d552b7419f51 50 double gyroy_pred=0.0f;
gr66 3:d552b7419f51 51 double gyroy=0.0f;
gr66 3:d552b7419f51 52 double angle_gyroy_f_pred=0.0f;
gr66 3:d552b7419f51 53 double angle_gyroy_f=0.0f;
gr66 3:d552b7419f51 54 //
gr66 5:d51ba8e93d10 55 double dt=dt0 ; // pas reel
gr66 3:d552b7419f51 56 double angle_final;
gr66 6:65c511f6f1fc 57 //
gr66 3:d552b7419f51 58 void calcul(void)
gr66 0:a2296270a125 59 {
gr66 8:41752698aa35 60 ana=0.3;
gr66 8:41752698aa35 61 Fc=0.05;
gr66 8:41752698aa35 62 RC=1./(Fc*2*pi); //calcul de RC
gr66 8:41752698aa35 63 a0=1./(1+(2*RC/dt)); //calcul du coefficient a du filtre
gr66 8:41752698aa35 64 b0=(1-(2.*RC/dt))*a0; //calcul du coefficient b du filtre
gr66 8:41752698aa35 65 a1=a0*RC*1.0; //calcul du coefficient a du filtre
gr66 8:41752698aa35 66 dt=tt.read_us()/1000000.0;
gr66 8:41752698aa35 67 tt.reset();
gr66 8:41752698aa35 68 DOF.readAccel();
gr66 8:41752698aa35 69 DOF.readGyro();
gr66 6:65c511f6f1fc 70 #if viti
gr66 8:41752698aa35 71 ang=((180/pi)*atan2((double)DOF.ax,-(double)DOF.ay)-90-ang_off); // sur site
gr66 6:65c511f6f1fc 72 #else
gr66 8:41752698aa35 73 ang=((180/pi)*atan2((double)DOF.ay,(double)DOF.az)-ang_off); // sur table
gr66 6:65c511f6f1fc 74 #endif
gr66 3:d552b7419f51 75
gr66 8:41752698aa35 76 // filtres complémentaires
gr66 8:41752698aa35 77 angle_acce_pred = angle_acce;
gr66 8:41752698aa35 78 angle_acce=ang;
gr66 8:41752698aa35 79 angle_acce_f_pred = angle_acce_f;
gr66 8:41752698aa35 80 angle_acce_f=a0*angle_acce+a0*angle_acce_pred-b0*angle_acce_f_pred; //filtrage accéléromètre
gr66 6:65c511f6f1fc 81
gr66 8:41752698aa35 82 gyroy_pred = gyroy;
gr66 6:65c511f6f1fc 83 #if viti
gr66 8:41752698aa35 84 gyroy=DOF.gz-gz_off; //sur site
gr66 6:65c511f6f1fc 85 #else
gr66 8:41752698aa35 86 gyroy=-DOF.gx-gx_off; //sur table
gr66 6:65c511f6f1fc 87 #endif
gr66 6:65c511f6f1fc 88
gr66 8:41752698aa35 89 angle_gyroy_f_pred = angle_gyroy_f;
gr66 8:41752698aa35 90 angle_gyroy_f=a1*gyroy+a1*gyroy_pred-b0*angle_gyroy_f_pred;
gr66 8:41752698aa35 91 //
gr66 8:41752698aa35 92 angle_final=angle_acce_f+angle_gyroy_f;
gr66 8:41752698aa35 93 ana=0.0;
gr66 0:a2296270a125 94 }
gr66 0:a2296270a125 95
gr66 0:a2296270a125 96 int main()
gr66 0:a2296270a125 97 {
gr66 6:65c511f6f1fc 98 dt=dt0;
gr66 6:65c511f6f1fc 99 tt.start();
gr66 0:a2296270a125 100 wait(1);
gr66 0:a2296270a125 101 //DOF.calibration();
gr66 0:a2296270a125 102 DOF.begin();
gr66 0:a2296270a125 103 wait(1);
gr66 0:a2296270a125 104 DOF.calibration();
gr66 0:a2296270a125 105 wait(1);
gr66 7:f5c5cf499311 106 tt.reset();
gr66 8:41752698aa35 107 thread.start(callback(&queue,&EventQueue::dispatch_forever));
gr66 8:41752698aa35 108 tic.attach(queue.event(calcul),0.01);
gr66 8:41752698aa35 109
gr66 8:41752698aa35 110
gr66 3:d552b7419f51 111
gr66 0:a2296270a125 112 while(1) {
gr66 0:a2296270a125 113
gr66 0:a2296270a125 114
gr66 6:65c511f6f1fc 115 ana=0.6;
gr66 3:d552b7419f51 116 //moteur
gr66 3:d552b7419f51 117 float x=verin.read();
gr66 3:d552b7419f51 118 float s=0.0;
gr66 5:d51ba8e93d10 119 /*
gr66 5:d51ba8e93d10 120 // sur table
gr66 5:d51ba8e93d10 121 if((angle_final>2)&&(x>0.1)) s=0.6;
gr66 5:d51ba8e93d10 122 else if((angle_final<-2)&&(x<0.9)) s=-0.6;
gr66 3:d552b7419f51 123 else motor.speed(0.0);
gr66 5:d51ba8e93d10 124 */
gr66 5:d51ba8e93d10 125 //sur site
gr66 5:d51ba8e93d10 126 if((angle_final<-ZM)&&(x>FDC_MOINS)) s=SP;
gr66 5:d51ba8e93d10 127 else if((angle_final>ZM)&&(x<FDC_PLUS)) s=-SP;
gr66 5:d51ba8e93d10 128 else motor.speed(0.0);
gr66 5:d51ba8e93d10 129 //
gr66 3:d552b7419f51 130 motor.speed(s);
gr66 7:f5c5cf499311 131 pc.printf("$%6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %f;\r\n",ang,angle_acce_f,angle_gyroy_f,angle_final,gyroy,x,s,dt);
gr66 3:d552b7419f51 132 ana=0.0;
gr66 8:41752698aa35 133
gr66 7:f5c5cf499311 134 wait(0.095);
gr66 3:d552b7419f51 135
gr66 0:a2296270a125 136 }
gr66 0:a2296270a125 137 }
gr66 0:a2296270a125 138