ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
main.cpp@1:b87e95907a18, 2016-03-31 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Thu Mar 31 20:24:24 2016 +0000
- Revision:
- 1:b87e95907a18
- Parent:
- 0:4c04e4fd1310
- Child:
- 2:c041e434eab6
basic integration of imu and control
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ivo_david_michelle | 0:4c04e4fd1310 | 1 | #include "mbed.h" |
ivo_david_michelle | 1:b87e95907a18 | 2 | #define _MBED_ |
ivo_david_michelle | 1:b87e95907a18 | 3 | #include "Adafruit_9DOF.h" |
ivo_david_michelle | 1:b87e95907a18 | 4 | #include "Serial_base.h" |
ivo_david_michelle | 1:b87e95907a18 | 5 | #include "controller.h" |
ivo_david_michelle | 1:b87e95907a18 | 6 | |
ivo_david_michelle | 1:b87e95907a18 | 7 | |
ivo_david_michelle | 1:b87e95907a18 | 8 | DigitalOut myled(LED1); |
ivo_david_michelle | 1:b87e95907a18 | 9 | Adafruit_9DOF dof = Adafruit_9DOF(); |
ivo_david_michelle | 1:b87e95907a18 | 10 | Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301); |
ivo_david_michelle | 1:b87e95907a18 | 11 | Adafruit_LSM303_Mag_Unified mag = Adafruit_LSM303_Mag_Unified(30302); |
ivo_david_michelle | 1:b87e95907a18 | 12 | Adafruit_L3GD20_Unified gyro = Adafruit_L3GD20_Unified(20); |
ivo_david_michelle | 0:4c04e4fd1310 | 13 | |
ivo_david_michelle | 0:4c04e4fd1310 | 14 | Serial pc(USBTX, USBRX); |
ivo_david_michelle | 0:4c04e4fd1310 | 15 | |
ivo_david_michelle | 0:4c04e4fd1310 | 16 | |
ivo_david_michelle | 0:4c04e4fd1310 | 17 | |
ivo_david_michelle | 1:b87e95907a18 | 18 | /* Offsets of gyro at rest */ |
ivo_david_michelle | 1:b87e95907a18 | 19 | float x_offset = 0, y_offset = 0, z_offset = 0; |
ivo_david_michelle | 0:4c04e4fd1310 | 20 | |
ivo_david_michelle | 1:b87e95907a18 | 21 | void initSensors() |
ivo_david_michelle | 1:b87e95907a18 | 22 | { |
ivo_david_michelle | 1:b87e95907a18 | 23 | s_com->println(("\r\nInitializing sensors!")); |
ivo_david_michelle | 1:b87e95907a18 | 24 | if (!accel.begin()) { |
ivo_david_michelle | 1:b87e95907a18 | 25 | /* There was a problem detecting the LSM303 ... check your connections */ |
ivo_david_michelle | 1:b87e95907a18 | 26 | s_com->println(("Ooops, no LSM303 accel detected ... Check your wiring!")); |
ivo_david_michelle | 1:b87e95907a18 | 27 | while(1); |
ivo_david_michelle | 1:b87e95907a18 | 28 | } |
ivo_david_michelle | 1:b87e95907a18 | 29 | if (!mag.begin()) { |
ivo_david_michelle | 1:b87e95907a18 | 30 | /* There was a problem detecting the LSM303 ... check your connections */ |
ivo_david_michelle | 1:b87e95907a18 | 31 | s_com->println("Ooops, no LSM303 mag detected ... Check your wiring!"); |
ivo_david_michelle | 1:b87e95907a18 | 32 | while(1); |
ivo_david_michelle | 1:b87e95907a18 | 33 | } |
ivo_david_michelle | 1:b87e95907a18 | 34 | if (!gyro.begin(GYRO_RANGE_2000DPS)) { |
ivo_david_michelle | 1:b87e95907a18 | 35 | /* There was a problem detecting the L3GD20 ... check your connections */ |
ivo_david_michelle | 1:b87e95907a18 | 36 | s_com->println("Ooops, no L3GD20 gyro detected ... Check your wiring or I2C ADDR!"); |
ivo_david_michelle | 1:b87e95907a18 | 37 | while(1); |
ivo_david_michelle | 1:b87e95907a18 | 38 | } |
ivo_david_michelle | 1:b87e95907a18 | 39 | /* Calculate initial offsets and noise level of gyro */ |
ivo_david_michelle | 1:b87e95907a18 | 40 | float sampleNum = 500; |
ivo_david_michelle | 1:b87e95907a18 | 41 | sensors_event_t gyro_event; |
ivo_david_michelle | 1:b87e95907a18 | 42 | for (int n = 0; n < sampleNum; n++) { |
ivo_david_michelle | 1:b87e95907a18 | 43 | gyro.getEvent(&gyro_event); |
ivo_david_michelle | 1:b87e95907a18 | 44 | x_offset += gyro_event.gyro.x; |
ivo_david_michelle | 1:b87e95907a18 | 45 | y_offset += gyro_event.gyro.y; |
ivo_david_michelle | 1:b87e95907a18 | 46 | z_offset += gyro_event.gyro.z; |
ivo_david_michelle | 1:b87e95907a18 | 47 | } |
ivo_david_michelle | 1:b87e95907a18 | 48 | x_offset = x_offset / sampleNum; |
ivo_david_michelle | 1:b87e95907a18 | 49 | y_offset = y_offset / sampleNum; |
ivo_david_michelle | 1:b87e95907a18 | 50 | z_offset = z_offset / sampleNum; |
ivo_david_michelle | 1:b87e95907a18 | 51 | s_com->print("Offsets... X: "); |
ivo_david_michelle | 1:b87e95907a18 | 52 | s_com->print(x_offset); |
ivo_david_michelle | 1:b87e95907a18 | 53 | s_com->print("\tY: "); |
ivo_david_michelle | 1:b87e95907a18 | 54 | s_com->print(y_offset); |
ivo_david_michelle | 1:b87e95907a18 | 55 | s_com->print("\tZ: "); |
ivo_david_michelle | 1:b87e95907a18 | 56 | s_com->print(z_offset); |
ivo_david_michelle | 1:b87e95907a18 | 57 | } |
ivo_david_michelle | 0:4c04e4fd1310 | 58 | |
ivo_david_michelle | 0:4c04e4fd1310 | 59 | |
ivo_david_michelle | 0:4c04e4fd1310 | 60 | |
ivo_david_michelle | 0:4c04e4fd1310 | 61 | int main() |
ivo_david_michelle | 0:4c04e4fd1310 | 62 | { |
ivo_david_michelle | 0:4c04e4fd1310 | 63 | double F=0; |
ivo_david_michelle | 0:4c04e4fd1310 | 64 | double M_x=0; |
ivo_david_michelle | 0:4c04e4fd1310 | 65 | double M_y=0; |
ivo_david_michelle | 0:4c04e4fd1310 | 66 | double M_z=0; |
ivo_david_michelle | 1:b87e95907a18 | 67 | |
ivo_david_michelle | 1:b87e95907a18 | 68 | initSensors(); |
ivo_david_michelle | 1:b87e95907a18 | 69 | |
ivo_david_michelle | 1:b87e95907a18 | 70 | |
ivo_david_michelle | 1:b87e95907a18 | 71 | //double *attitude = (double *) malloc(6 * sizeof(double)); |
ivo_david_michelle | 1:b87e95907a18 | 72 | sensors_event_t accel_event; |
ivo_david_michelle | 1:b87e95907a18 | 73 | sensors_event_t mag_event; |
ivo_david_michelle | 1:b87e95907a18 | 74 | sensors_event_t gyro_event; |
ivo_david_michelle | 1:b87e95907a18 | 75 | sensors_vec_t orientation; |
ivo_david_michelle | 1:b87e95907a18 | 76 | |
ivo_david_michelle | 0:4c04e4fd1310 | 77 | |
ivo_david_michelle | 0:4c04e4fd1310 | 78 | while (1) { |
ivo_david_michelle | 1:b87e95907a18 | 79 | |
ivo_david_michelle | 1:b87e95907a18 | 80 | /* Calculate pitch and roll from the raw accelerometer data */ |
ivo_david_michelle | 1:b87e95907a18 | 81 | accel.getEvent(&accel_event); |
ivo_david_michelle | 1:b87e95907a18 | 82 | if (dof.accelGetOrientation(&accel_event, &orientation)) { |
ivo_david_michelle | 1:b87e95907a18 | 83 | /* 'orientation' should have valid .roll and .pitch fields */ |
ivo_david_michelle | 1:b87e95907a18 | 84 | //s_com->print(("Roll: ")); |
ivo_david_michelle | 1:b87e95907a18 | 85 | //s_com->print(orientation.roll); |
ivo_david_michelle | 1:b87e95907a18 | 86 | //s_com->print(("; ")); |
ivo_david_michelle | 1:b87e95907a18 | 87 | //s_com->print(("Pitch: ")); |
ivo_david_michelle | 1:b87e95907a18 | 88 | //s_com->print(orientation.pitch); |
ivo_david_michelle | 1:b87e95907a18 | 89 | //s_com->print((";\t")); |
ivo_david_michelle | 1:b87e95907a18 | 90 | } |
ivo_david_michelle | 1:b87e95907a18 | 91 | /* Calculate the heading using the magnetometer */ |
ivo_david_michelle | 1:b87e95907a18 | 92 | mag.getEvent(&mag_event); |
ivo_david_michelle | 1:b87e95907a18 | 93 | if (dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &orientation)) { |
ivo_david_michelle | 1:b87e95907a18 | 94 | /* 'orientation' should have valid .heading data now */ |
ivo_david_michelle | 1:b87e95907a18 | 95 | //s_com->print(("Heading: ")); |
ivo_david_michelle | 1:b87e95907a18 | 96 | //s_com->print(orientation.heading); |
ivo_david_michelle | 1:b87e95907a18 | 97 | // s_com->print((";\r\n")); |
ivo_david_michelle | 1:b87e95907a18 | 98 | } |
ivo_david_michelle | 1:b87e95907a18 | 99 | /* Get angular rate data from gyroscope */ |
ivo_david_michelle | 1:b87e95907a18 | 100 | gyro.getEvent(&gyro_event); |
ivo_david_michelle | 1:b87e95907a18 | 101 | gyro_event.gyro.x -= x_offset; |
ivo_david_michelle | 1:b87e95907a18 | 102 | gyro_event.gyro.y -= y_offset; |
ivo_david_michelle | 1:b87e95907a18 | 103 | gyro_event.gyro.z -= z_offset; |
ivo_david_michelle | 1:b87e95907a18 | 104 | |
ivo_david_michelle | 1:b87e95907a18 | 105 | wait(0.1); |
ivo_david_michelle | 1:b87e95907a18 | 106 | |
ivo_david_michelle | 0:4c04e4fd1310 | 107 | // get sensor values |
ivo_david_michelle | 0:4c04e4fd1310 | 108 | |
ivo_david_michelle | 0:4c04e4fd1310 | 109 | // call controller |
ivo_david_michelle | 1:b87e95907a18 | 110 | M_x= controller(gyro_event, orientation); |
ivo_david_michelle | 0:4c04e4fd1310 | 111 | |
ivo_david_michelle | 0:4c04e4fd1310 | 112 | // plot |
ivo_david_michelle | 0:4c04e4fd1310 | 113 | |
ivo_david_michelle | 0:4c04e4fd1310 | 114 | //pc.printf("F: %f M_x: %f M_y: %f M_z: %f\n\r", F, M_x, M_y, M_z); |
ivo_david_michelle | 1:b87e95907a18 | 115 | pc.printf("M_x: %f \n\r", M_x); |
ivo_david_michelle | 0:4c04e4fd1310 | 116 | } |
ivo_david_michelle | 1:b87e95907a18 | 117 | //free(attitude); |
ivo_david_michelle | 0:4c04e4fd1310 | 118 | } |