For the SUTD research project. This is a sample code to access the MPU6050
Dependencies: MPU6050 Terminal mbed
main.cpp@0:59f6f94baeb1, 2013-12-01 (annotated)
- Committer:
- majik
- Date:
- Sun Dec 01 06:22:13 2013 +0000
- Revision:
- 0:59f6f94baeb1
Robot orientation test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
majik | 0:59f6f94baeb1 | 1 | /** This program constantly sends the accelerometer data over the bluetooth to the computer. |
majik | 0:59f6f94baeb1 | 2 | * The robot will drive FWD and REVERSE at maximum speed when you press W and S. //Turn 90 degrees at a time// |
majik | 0:59f6f94baeb1 | 3 | * TODO: implement 90deg rotation |
majik | 0:59f6f94baeb1 | 4 | * TODO: Get rid of flags. Turn everything into a class |
majik | 0:59f6f94baeb1 | 5 | * TODO: Use a PID controller for turning instead of whatever mess you used today |
majik | 0:59f6f94baeb1 | 6 | */ |
majik | 0:59f6f94baeb1 | 7 | #include "mbed.h" |
majik | 0:59f6f94baeb1 | 8 | #include "MPU6050.h" |
majik | 0:59f6f94baeb1 | 9 | #include "Terminal.h" |
majik | 0:59f6f94baeb1 | 10 | #include "string" |
majik | 0:59f6f94baeb1 | 11 | #include "main.h" |
majik | 0:59f6f94baeb1 | 12 | |
majik | 0:59f6f94baeb1 | 13 | //const int startMotor = 2; //time (in seconds) when motor starts |
majik | 0:59f6f94baeb1 | 14 | //const int stopMotor = 4; //time (in seconds) when motor stops |
majik | 0:59f6f94baeb1 | 15 | |
majik | 0:59f6f94baeb1 | 16 | Terminal pc(PTA2,PTA1); //bluetooth |
majik | 0:59f6f94baeb1 | 17 | |
majik | 0:59f6f94baeb1 | 18 | DigitalOut myled(PTE3); //LED |
majik | 0:59f6f94baeb1 | 19 | |
majik | 0:59f6f94baeb1 | 20 | MPU6050 mpu(PTE0, PTE1); //Accelerometer (needs the MPU6050 library) |
majik | 0:59f6f94baeb1 | 21 | |
majik | 0:59f6f94baeb1 | 22 | //things for the motor controller |
majik | 0:59f6f94baeb1 | 23 | PwmOut PWMA(PTA4); |
majik | 0:59f6f94baeb1 | 24 | PwmOut PWMB(PTA5); |
majik | 0:59f6f94baeb1 | 25 | DigitalOut AIN1(PTA14); |
majik | 0:59f6f94baeb1 | 26 | DigitalOut AIN2(PTA13); |
majik | 0:59f6f94baeb1 | 27 | DigitalOut BIN1(PTA16); |
majik | 0:59f6f94baeb1 | 28 | DigitalOut BIN2(PTA17); |
majik | 0:59f6f94baeb1 | 29 | DigitalOut STBY(PTA15); |
majik | 0:59f6f94baeb1 | 30 | |
majik | 0:59f6f94baeb1 | 31 | //motor functions |
majik | 0:59f6f94baeb1 | 32 | void motor_control(bool motor, int speed, bool dir); //speed should be between 1 and 100 |
majik | 0:59f6f94baeb1 | 33 | void stop(); |
majik | 0:59f6f94baeb1 | 34 | void straight(int speed); //drive robot straight. Speed between -100 and 100. Accelerometer works best at 100 |
majik | 0:59f6f94baeb1 | 35 | void turn_left(int speedA, int speedB); |
majik | 0:59f6f94baeb1 | 36 | void turn_right(int speedA, int speedB); |
majik | 0:59f6f94baeb1 | 37 | |
majik | 0:59f6f94baeb1 | 38 | double integrate(data *prev, int acc[3], int time); //integrate. this is not implemented yet |
majik | 0:59f6f94baeb1 | 39 | void remote_control(char c, int *turn); //Send a cmmand to this function, it will drive the robot |
majik | 0:59f6f94baeb1 | 40 | |
majik | 0:59f6f94baeb1 | 41 | int accFlag = 0; //flag to continue acceleration or deceleration (1 for acc, 0 for none, -1 for dec) |
majik | 0:59f6f94baeb1 | 42 | int turnFlag = 0; //flag for direction of turn. If 0, no turn, if 1 turn right, -1 turn left |
majik | 0:59f6f94baeb1 | 43 | int accLimit = 16384.0/9.81* 1; //acceleration limit = 2 m/s2 |
majik | 0:59f6f94baeb1 | 44 | int maxRot = 0; |
majik | 0:59f6f94baeb1 | 45 | |
majik | 0:59f6f94baeb1 | 46 | |
majik | 0:59f6f94baeb1 | 47 | int main() |
majik | 0:59f6f94baeb1 | 48 | { |
majik | 0:59f6f94baeb1 | 49 | double t2 = 0; |
majik | 0:59f6f94baeb1 | 50 | double tnow; |
majik | 0:59f6f94baeb1 | 51 | double SP; |
majik | 0:59f6f94baeb1 | 52 | int Kp = 75; //proportional gain (tuning) |
majik | 0:59f6f94baeb1 | 53 | int Ki = 0; //integral gain (tuning) |
majik | 0:59f6f94baeb1 | 54 | double Kd = 0; //derivative gain (tuning) *Not used = 0* |
majik | 0:59f6f94baeb1 | 55 | double Irz = 0; |
majik | 0:59f6f94baeb1 | 56 | |
majik | 0:59f6f94baeb1 | 57 | double rotationSpeed=0; |
majik | 0:59f6f94baeb1 | 58 | double rz=0; //rotation in the z axis |
majik | 0:59f6f94baeb1 | 59 | double tprev=0;//time of previous iteration |
majik | 0:59f6f94baeb1 | 60 | double pi = 3.14159265359; |
majik | 0:59f6f94baeb1 | 61 | int i=0; |
majik | 0:59f6f94baeb1 | 62 | int turnTarget = 0; //angle for the robot to drive at (in degrees) |
majik | 0:59f6f94baeb1 | 63 | // data *state; //this will be passed into the integrate fucntion for recursiveness |
majik | 0:59f6f94baeb1 | 64 | //send data to the integrate function, delayed by 10 samples |
majik | 0:59f6f94baeb1 | 65 | // |
majik | 0:59f6f94baeb1 | 66 | char c; |
majik | 0:59f6f94baeb1 | 67 | // int flag = 0; |
majik | 0:59f6f94baeb1 | 68 | int accdata[3]; |
majik | 0:59f6f94baeb1 | 69 | int avAcc[3]; |
majik | 0:59f6f94baeb1 | 70 | int gyrodata[3]; |
majik | 0:59f6f94baeb1 | 71 | Timer t; |
majik | 0:59f6f94baeb1 | 72 | pc.baud(115200); //Make sure this baud rate matches the baud rate of the bluetooth (set baud rate with "BluetoothAT") |
majik | 0:59f6f94baeb1 | 73 | wait(0.1); |
majik | 0:59f6f94baeb1 | 74 | char test = mpu.testConnection(); |
majik | 0:59f6f94baeb1 | 75 | |
majik | 0:59f6f94baeb1 | 76 | |
majik | 0:59f6f94baeb1 | 77 | pc.baud(115200); //this can only be changed after the BLUETOOTH baud rate has been changed |
majik | 0:59f6f94baeb1 | 78 | if (mpu.testConnection()){ |
majik | 0:59f6f94baeb1 | 79 | //pc.printf("MPU connection succeeded\n\r"); |
majik | 0:59f6f94baeb1 | 80 | myled = 0; |
majik | 0:59f6f94baeb1 | 81 | } |
majik | 0:59f6f94baeb1 | 82 | else{ |
majik | 0:59f6f94baeb1 | 83 | pc.printf("MPU connection failed\n\r"); //Todo: If connection fails, retry a couple times. Try resetting MPU (this would need another wire?) |
majik | 0:59f6f94baeb1 | 84 | myled = 1; |
majik | 0:59f6f94baeb1 | 85 | } |
majik | 0:59f6f94baeb1 | 86 | wait(3); |
majik | 0:59f6f94baeb1 | 87 | |
majik | 0:59f6f94baeb1 | 88 | t.reset(); |
majik | 0:59f6f94baeb1 | 89 | // mpu.setBW(MPU6050_BW_10); //set bandwidth of low pass filter for Accerlerometer AND Gyro. |
majik | 0:59f6f94baeb1 | 90 | // mpu.setBW(MPU6050_BW_42); |
majik | 0:59f6f94baeb1 | 91 | // mpu.setBW(MPU6050_BW_98); |
majik | 0:59f6f94baeb1 | 92 | mpu.setBW(MPU6050_BW_20); |
majik | 0:59f6f94baeb1 | 93 | // mpu.setGyroRange(MPU6050_GYRO_RANGE_250); //To convert gyro output to RAD/S, divide by 7505.7 |
majik | 0:59f6f94baeb1 | 94 | mpu.setGyroRange(MPU6050_GYRO_RANGE_500); //to convert gyro output to RAD/S, divide by 3752.9 |
majik | 0:59f6f94baeb1 | 95 | //double gyroCorrect = 3752.9; //////change this number!!!!Decrease to decrease rotation |
majik | 0:59f6f94baeb1 | 96 | double gyroCorrect = 3720; //prev3754.82prev3752.9 Use this number to convert gyro reading to rad/s |
majik | 0:59f6f94baeb1 | 97 | int count = 0; |
majik | 0:59f6f94baeb1 | 98 | double rzOff = 0; |
majik | 0:59f6f94baeb1 | 99 | while(t.read()<1) //calculate gyro offset |
majik | 0:59f6f94baeb1 | 100 | { |
majik | 0:59f6f94baeb1 | 101 | mpu.getGyroRaw(gyrodata); |
majik | 0:59f6f94baeb1 | 102 | rzOff += gyrodata[2]; |
majik | 0:59f6f94baeb1 | 103 | count++; |
majik | 0:59f6f94baeb1 | 104 | } |
majik | 0:59f6f94baeb1 | 105 | rzOff = rzOff/count; //rzOffset |
majik | 0:59f6f94baeb1 | 106 | while(1) |
majik | 0:59f6f94baeb1 | 107 | { |
majik | 0:59f6f94baeb1 | 108 | //speed = 100; |
majik | 0:59f6f94baeb1 | 109 | mpu.getAcceleroRaw(accdata); |
majik | 0:59f6f94baeb1 | 110 | mpu.getGyroRaw(gyrodata); |
majik | 0:59f6f94baeb1 | 111 | |
majik | 0:59f6f94baeb1 | 112 | //ROTATION//------------------------------------// |
majik | 0:59f6f94baeb1 | 113 | |
majik | 0:59f6f94baeb1 | 114 | //MV = 0; //input (speed setting) |
majik | 0:59f6f94baeb1 | 115 | SP = turnTarget*pi/180; //desired angle (radians) |
majik | 0:59f6f94baeb1 | 116 | tnow = t.read(); |
majik | 0:59f6f94baeb1 | 117 | rz = rz + ((gyrodata[2]-rzOff)*(tnow-tprev)/gyroCorrect); //rz is the rotation(radians) from start |
majik | 0:59f6f94baeb1 | 118 | Irz = Irz + (rz-SP)*(tnow-tprev); //Irz needs to be reset every so often, or it should be ignored |
majik | 0:59f6f94baeb1 | 119 | tprev = tnow; |
majik | 0:59f6f94baeb1 | 120 | rotationSpeed = (int(Kp*(rz-SP) + Ki*Irz + Kd*gyrodata[2]/gyroCorrect)); |
majik | 0:59f6f94baeb1 | 121 | pc.printf("\n\r%f\t",rotationSpeed); |
majik | 0:59f6f94baeb1 | 122 | if(maxRot < gyrodata[2]) |
majik | 0:59f6f94baeb1 | 123 | maxRot = gyrodata[2]; |
majik | 0:59f6f94baeb1 | 124 | |
majik | 0:59f6f94baeb1 | 125 | |
majik | 0:59f6f94baeb1 | 126 | |
majik | 0:59f6f94baeb1 | 127 | |
majik | 0:59f6f94baeb1 | 128 | |
majik | 0:59f6f94baeb1 | 129 | |
majik | 0:59f6f94baeb1 | 130 | if(abs(rotationSpeed)<1)//(abs(rz-SP)<(0.0175*gyroCorrect)) |
majik | 0:59f6f94baeb1 | 131 | { |
majik | 0:59f6f94baeb1 | 132 | rotationSpeed = 0; |
majik | 0:59f6f94baeb1 | 133 | Irz = 0; |
majik | 0:59f6f94baeb1 | 134 | } |
majik | 0:59f6f94baeb1 | 135 | else if(abs(rotationSpeed)<10) |
majik | 0:59f6f94baeb1 | 136 | { |
majik | 0:59f6f94baeb1 | 137 | |
majik | 0:59f6f94baeb1 | 138 | if (rotationSpeed>0) |
majik | 0:59f6f94baeb1 | 139 | rotationSpeed = 10; |
majik | 0:59f6f94baeb1 | 140 | else |
majik | 0:59f6f94baeb1 | 141 | rotationSpeed = -10; |
majik | 0:59f6f94baeb1 | 142 | } |
majik | 0:59f6f94baeb1 | 143 | if(tnow>t2) |
majik | 0:59f6f94baeb1 | 144 | { |
majik | 0:59f6f94baeb1 | 145 | turn_right(-rotationSpeed,rotationSpeed); |
majik | 0:59f6f94baeb1 | 146 | t2 = tnow+0.01; |
majik | 0:59f6f94baeb1 | 147 | } |
majik | 0:59f6f94baeb1 | 148 | |
majik | 0:59f6f94baeb1 | 149 | |
majik | 0:59f6f94baeb1 | 150 | //END ROTATION//---------------------------------// |
majik | 0:59f6f94baeb1 | 151 | if (accFlag > 0) |
majik | 0:59f6f94baeb1 | 152 | accFlag --; |
majik | 0:59f6f94baeb1 | 153 | else if(accFlag < 0) |
majik | 0:59f6f94baeb1 | 154 | accFlag++; |
majik | 0:59f6f94baeb1 | 155 | |
majik | 0:59f6f94baeb1 | 156 | // avAcc[0] = 0; |
majik | 0:59f6f94baeb1 | 157 | // avAcc[1] = 0; |
majik | 0:59f6f94baeb1 | 158 | // avAcc[2] = 0; |
majik | 0:59f6f94baeb1 | 159 | // for(i = 0; i<4; i++) |
majik | 0:59f6f94baeb1 | 160 | // { |
majik | 0:59f6f94baeb1 | 161 | // |
majik | 0:59f6f94baeb1 | 162 | // mpu.getAcceleroRaw(accdata); |
majik | 0:59f6f94baeb1 | 163 | // mpu.getGyroRaw(gyrodata); |
majik | 0:59f6f94baeb1 | 164 | // |
majik | 0:59f6f94baeb1 | 165 | // avAcc[0] += accdata[0]; |
majik | 0:59f6f94baeb1 | 166 | // avAcc[1] += accdata[1]; |
majik | 0:59f6f94baeb1 | 167 | // avAcc[2] += accdata[2]; |
majik | 0:59f6f94baeb1 | 168 | // } |
majik | 0:59f6f94baeb1 | 169 | |
majik | 0:59f6f94baeb1 | 170 | |
majik | 0:59f6f94baeb1 | 171 | pc.printf("%f\t%d\t%d\t%d\t", tnow,accdata[0], accdata[1], accdata[2]); |
majik | 0:59f6f94baeb1 | 172 | // pc.printf("%d\t%d\t%d\t%d\n\r", gyrodata[0], gyrodata[1], gyrodata[2],STBY.read()); |
majik | 0:59f6f94baeb1 | 173 | // pc.printf("%f\n\r",tnow); |
majik | 0:59f6f94baeb1 | 174 | |
majik | 0:59f6f94baeb1 | 175 | //Old Code for moving the robot// |
majik | 0:59f6f94baeb1 | 176 | /* |
majik | 0:59f6f94baeb1 | 177 | if (t.read() > startMotor && flag ==0){ |
majik | 0:59f6f94baeb1 | 178 | myled = 0; |
majik | 0:59f6f94baeb1 | 179 | straight(100); |
majik | 0:59f6f94baeb1 | 180 | flag = 1; |
majik | 0:59f6f94baeb1 | 181 | } |
majik | 0:59f6f94baeb1 | 182 | if (t.read() > stopMotor){ |
majik | 0:59f6f94baeb1 | 183 | stop(); |
majik | 0:59f6f94baeb1 | 184 | myled = 1; |
majik | 0:59f6f94baeb1 | 185 | STBY=0; |
majik | 0:59f6f94baeb1 | 186 | flag = 2; |
majik | 0:59f6f94baeb1 | 187 | } |
majik | 0:59f6f94baeb1 | 188 | if (t.read() > 20) |
majik | 0:59f6f94baeb1 | 189 | break; |
majik | 0:59f6f94baeb1 | 190 | */ |
majik | 0:59f6f94baeb1 | 191 | //New code for moving robot// |
majik | 0:59f6f94baeb1 | 192 | if(pc.readable() || accFlag){ |
majik | 0:59f6f94baeb1 | 193 | if(accFlag) |
majik | 0:59f6f94baeb1 | 194 | c = 'i'; |
majik | 0:59f6f94baeb1 | 195 | else |
majik | 0:59f6f94baeb1 | 196 | c = pc.getc(); |
majik | 0:59f6f94baeb1 | 197 | remote_control(c,&turnTarget); |
majik | 0:59f6f94baeb1 | 198 | if (c=='t'){ //reset timer if t is pressed |
majik | 0:59f6f94baeb1 | 199 | wait(2); |
majik | 0:59f6f94baeb1 | 200 | t.reset(); |
majik | 0:59f6f94baeb1 | 201 | turnTarget = 0; |
majik | 0:59f6f94baeb1 | 202 | } |
majik | 0:59f6f94baeb1 | 203 | } |
majik | 0:59f6f94baeb1 | 204 | } |
majik | 0:59f6f94baeb1 | 205 | |
majik | 0:59f6f94baeb1 | 206 | } |
majik | 0:59f6f94baeb1 | 207 | void motor_control(bool motor, int speed, bool dir) //motor: 0=right, 1=left; speed: 0-100; dir 0=fwd, 1=bkwd |
majik | 0:59f6f94baeb1 | 208 | { |
majik | 0:59f6f94baeb1 | 209 | if (speed == 0) //stop// |
majik | 0:59f6f94baeb1 | 210 | { |
majik | 0:59f6f94baeb1 | 211 | STBY = 0; |
majik | 0:59f6f94baeb1 | 212 | if (motor ==0) |
majik | 0:59f6f94baeb1 | 213 | { |
majik | 0:59f6f94baeb1 | 214 | AIN1 = 0; |
majik | 0:59f6f94baeb1 | 215 | AIN2 = 0; |
majik | 0:59f6f94baeb1 | 216 | PWMA = 0; |
majik | 0:59f6f94baeb1 | 217 | } |
majik | 0:59f6f94baeb1 | 218 | else |
majik | 0:59f6f94baeb1 | 219 | { |
majik | 0:59f6f94baeb1 | 220 | BIN1 = 0; |
majik | 0:59f6f94baeb1 | 221 | BIN2 = 0; |
majik | 0:59f6f94baeb1 | 222 | PWMB = 0; |
majik | 0:59f6f94baeb1 | 223 | } |
majik | 0:59f6f94baeb1 | 224 | } |
majik | 0:59f6f94baeb1 | 225 | else |
majik | 0:59f6f94baeb1 | 226 | STBY = 1; |
majik | 0:59f6f94baeb1 | 227 | if (!dir) //forward// |
majik | 0:59f6f94baeb1 | 228 | { |
majik | 0:59f6f94baeb1 | 229 | if(motor == 0) //right motor// |
majik | 0:59f6f94baeb1 | 230 | { |
majik | 0:59f6f94baeb1 | 231 | AIN1 = 1; |
majik | 0:59f6f94baeb1 | 232 | AIN2 = 0; |
majik | 0:59f6f94baeb1 | 233 | PWMA = abs(speed/100.0); |
majik | 0:59f6f94baeb1 | 234 | } |
majik | 0:59f6f94baeb1 | 235 | else //left motor// |
majik | 0:59f6f94baeb1 | 236 | { |
majik | 0:59f6f94baeb1 | 237 | BIN1 = 0; //REVERSE THESE WHEN FIX WIRING//////*****////// |
majik | 0:59f6f94baeb1 | 238 | BIN2 = 1; |
majik | 0:59f6f94baeb1 | 239 | PWMB = abs(speed/100.0); |
majik | 0:59f6f94baeb1 | 240 | } |
majik | 0:59f6f94baeb1 | 241 | } |
majik | 0:59f6f94baeb1 | 242 | else |
majik | 0:59f6f94baeb1 | 243 | { |
majik | 0:59f6f94baeb1 | 244 | if(motor == 0) //right motor// |
majik | 0:59f6f94baeb1 | 245 | { |
majik | 0:59f6f94baeb1 | 246 | AIN1 = 0; |
majik | 0:59f6f94baeb1 | 247 | AIN2 = 1; |
majik | 0:59f6f94baeb1 | 248 | PWMA = abs(speed/100.0); |
majik | 0:59f6f94baeb1 | 249 | } |
majik | 0:59f6f94baeb1 | 250 | else //left motor// |
majik | 0:59f6f94baeb1 | 251 | { |
majik | 0:59f6f94baeb1 | 252 | BIN1 = 1; //REVERSE THESE WHEN FIXED WIRING!!////*****//////// |
majik | 0:59f6f94baeb1 | 253 | BIN2 = 0; |
majik | 0:59f6f94baeb1 | 254 | PWMB = abs(speed/100.0); |
majik | 0:59f6f94baeb1 | 255 | } |
majik | 0:59f6f94baeb1 | 256 | } |
majik | 0:59f6f94baeb1 | 257 | |
majik | 0:59f6f94baeb1 | 258 | } |
majik | 0:59f6f94baeb1 | 259 | void stop() |
majik | 0:59f6f94baeb1 | 260 | { |
majik | 0:59f6f94baeb1 | 261 | motor_control(0,0,0); //motorA, speed=0, direction = fwd |
majik | 0:59f6f94baeb1 | 262 | motor_control(1,0,0); |
majik | 0:59f6f94baeb1 | 263 | STBY=0; |
majik | 0:59f6f94baeb1 | 264 | } |
majik | 0:59f6f94baeb1 | 265 | void straight(int speed) //if speed is +ve, go straight. -ve reverse |
majik | 0:59f6f94baeb1 | 266 | { |
majik | 0:59f6f94baeb1 | 267 | if (speed == 0) |
majik | 0:59f6f94baeb1 | 268 | stop(); |
majik | 0:59f6f94baeb1 | 269 | else if (speed > 100) |
majik | 0:59f6f94baeb1 | 270 | speed = 100; |
majik | 0:59f6f94baeb1 | 271 | else if (speed < -100) |
majik | 0:59f6f94baeb1 | 272 | speed = -100; |
majik | 0:59f6f94baeb1 | 273 | else if (speed>0) //fwd// |
majik | 0:59f6f94baeb1 | 274 | { |
majik | 0:59f6f94baeb1 | 275 | motor_control(0,speed,0); |
majik | 0:59f6f94baeb1 | 276 | motor_control(1,speed,0); |
majik | 0:59f6f94baeb1 | 277 | } |
majik | 0:59f6f94baeb1 | 278 | else |
majik | 0:59f6f94baeb1 | 279 | { |
majik | 0:59f6f94baeb1 | 280 | motor_control(0,speed,1); |
majik | 0:59f6f94baeb1 | 281 | motor_control(1,speed,1); |
majik | 0:59f6f94baeb1 | 282 | } |
majik | 0:59f6f94baeb1 | 283 | } |
majik | 0:59f6f94baeb1 | 284 | double integrate(int *prev, int acc[3], int time) |
majik | 0:59f6f94baeb1 | 285 | { |
majik | 0:59f6f94baeb1 | 286 | /*Returns the distance travelled*/ |
majik | 0:59f6f94baeb1 | 287 | return 0; |
majik | 0:59f6f94baeb1 | 288 | } |
majik | 0:59f6f94baeb1 | 289 | |
majik | 0:59f6f94baeb1 | 290 | |
majik | 0:59f6f94baeb1 | 291 | /*Makes robot go straight, stop, and turn*/ |
majik | 0:59f6f94baeb1 | 292 | void remote_control(char c, int *turn) |
majik | 0:59f6f94baeb1 | 293 | { |
majik | 0:59f6f94baeb1 | 294 | int speed; |
majik | 0:59f6f94baeb1 | 295 | int y; |
majik | 0:59f6f94baeb1 | 296 | switch (c) |
majik | 0:59f6f94baeb1 | 297 | { |
majik | 0:59f6f94baeb1 | 298 | case 'w': //forward - increment speed |
majik | 0:59f6f94baeb1 | 299 | // turn=0; |
majik | 0:59f6f94baeb1 | 300 | speed = 100; |
majik | 0:59f6f94baeb1 | 301 | straight(speed); |
majik | 0:59f6f94baeb1 | 302 | break; |
majik | 0:59f6f94baeb1 | 303 | case 's': //backwards |
majik | 0:59f6f94baeb1 | 304 | // turn=0; |
majik | 0:59f6f94baeb1 | 305 | speed = -100; |
majik | 0:59f6f94baeb1 | 306 | straight(speed); |
majik | 0:59f6f94baeb1 | 307 | break; |
majik | 0:59f6f94baeb1 | 308 | case 'd': //right |
majik | 0:59f6f94baeb1 | 309 | /*if(BIN1.read()==0 && AIN1.read()==0) //if previously turning right, go straight |
majik | 0:59f6f94baeb1 | 310 | stop(); |
majik | 0:59f6f94baeb1 | 311 | //{ |
majik | 0:59f6f94baeb1 | 312 | // turn = 0; |
majik | 0:59f6f94baeb1 | 313 | // turnRate = 0; |
majik | 0:59f6f94baeb1 | 314 | // straight(speed); |
majik | 0:59f6f94baeb1 | 315 | //} |
majik | 0:59f6f94baeb1 | 316 | else |
majik | 0:59f6f94baeb1 | 317 | { |
majik | 0:59f6f94baeb1 | 318 | //turn_left(50,-50); |
majik | 0:59f6f94baeb1 | 319 | }*/ |
majik | 0:59f6f94baeb1 | 320 | *turn+=90; //rotate right 90 degrees |
majik | 0:59f6f94baeb1 | 321 | break; |
majik | 0:59f6f94baeb1 | 322 | case 'a': //left |
majik | 0:59f6f94baeb1 | 323 | /*if(BIN1.read() && AIN1.read()) //if previously turning left, go straight; |
majik | 0:59f6f94baeb1 | 324 | stop(); |
majik | 0:59f6f94baeb1 | 325 | else |
majik | 0:59f6f94baeb1 | 326 | turn_right(-50,50); |
majik | 0:59f6f94baeb1 | 327 | */ |
majik | 0:59f6f94baeb1 | 328 | *turn-=90; //rotate left 90 degrees |
majik | 0:59f6f94baeb1 | 329 | break; |
majik | 0:59f6f94baeb1 | 330 | case 'i': //constant acceleration |
majik | 0:59f6f94baeb1 | 331 | //if(BIN1.read() || (AIN!.read() == 0)) //if previously reverse, stop |
majik | 0:59f6f94baeb1 | 332 | // stop(); |
majik | 0:59f6f94baeb1 | 333 | //else //go in reverse, at a constant acceleration |
majik | 0:59f6f94baeb1 | 334 | speed = (PWMA.read() + PWMB.read())/2*100; |
majik | 0:59f6f94baeb1 | 335 | y = mpu.getAcceleroRawY(); |
majik | 0:59f6f94baeb1 | 336 | if(speed<100 || BIN1.read() || (AIN1.read()==0) && accFlag < 2) |
majik | 0:59f6f94baeb1 | 337 | { |
majik | 0:59f6f94baeb1 | 338 | accFlag = 5; |
majik | 0:59f6f94baeb1 | 339 | if(BIN1.read()) stop(); |
majik | 0:59f6f94baeb1 | 340 | if(abs(y)<accLimit) |
majik | 0:59f6f94baeb1 | 341 | { |
majik | 0:59f6f94baeb1 | 342 | speed = speed + 1; |
majik | 0:59f6f94baeb1 | 343 | straight(speed); |
majik | 0:59f6f94baeb1 | 344 | } |
majik | 0:59f6f94baeb1 | 345 | } |
majik | 0:59f6f94baeb1 | 346 | else |
majik | 0:59f6f94baeb1 | 347 | accFlag = 0; |
majik | 0:59f6f94baeb1 | 348 | break; |
majik | 0:59f6f94baeb1 | 349 | default: //stop |
majik | 0:59f6f94baeb1 | 350 | speed = 0; |
majik | 0:59f6f94baeb1 | 351 | stop(); |
majik | 0:59f6f94baeb1 | 352 | } |
majik | 0:59f6f94baeb1 | 353 | } |
majik | 0:59f6f94baeb1 | 354 | |
majik | 0:59f6f94baeb1 | 355 | |
majik | 0:59f6f94baeb1 | 356 | void turn_left(int speedA, int speedB) |
majik | 0:59f6f94baeb1 | 357 | { |
majik | 0:59f6f94baeb1 | 358 | |
majik | 0:59f6f94baeb1 | 359 | if (speedA < 0) //R reverse// |
majik | 0:59f6f94baeb1 | 360 | { |
majik | 0:59f6f94baeb1 | 361 | motor_control(0,speedA,1); //Right reverse |
majik | 0:59f6f94baeb1 | 362 | motor_control(1,speedB,1); //Left reverse |
majik | 0:59f6f94baeb1 | 363 | } |
majik | 0:59f6f94baeb1 | 364 | else if(speedB <= 0) |
majik | 0:59f6f94baeb1 | 365 | { |
majik | 0:59f6f94baeb1 | 366 | motor_control(1,speedB,1); //Left reverse// |
majik | 0:59f6f94baeb1 | 367 | motor_control(0,speedA,0); //Right fwd |
majik | 0:59f6f94baeb1 | 368 | } |
majik | 0:59f6f94baeb1 | 369 | else |
majik | 0:59f6f94baeb1 | 370 | { |
majik | 0:59f6f94baeb1 | 371 | motor_control(0,speedA,0); //Right fwd |
majik | 0:59f6f94baeb1 | 372 | motor_control(1,speedB,0); //Left fwd |
majik | 0:59f6f94baeb1 | 373 | } |
majik | 0:59f6f94baeb1 | 374 | } |
majik | 0:59f6f94baeb1 | 375 | void turn_right(int speedA, int speedB) |
majik | 0:59f6f94baeb1 | 376 | { |
majik | 0:59f6f94baeb1 | 377 | if (speedA > 0) //R fwd// |
majik | 0:59f6f94baeb1 | 378 | { |
majik | 0:59f6f94baeb1 | 379 | motor_control(0,speedA,0); //Right fwd |
majik | 0:59f6f94baeb1 | 380 | } |
majik | 0:59f6f94baeb1 | 381 | else |
majik | 0:59f6f94baeb1 | 382 | { |
majik | 0:59f6f94baeb1 | 383 | motor_control(0,speedA,1); //Right reverrse |
majik | 0:59f6f94baeb1 | 384 | } |
majik | 0:59f6f94baeb1 | 385 | if(speedB<0) //L rev |
majik | 0:59f6f94baeb1 | 386 | { |
majik | 0:59f6f94baeb1 | 387 | motor_control(1,speedB,1); //Left reverse |
majik | 0:59f6f94baeb1 | 388 | } |
majik | 0:59f6f94baeb1 | 389 | else |
majik | 0:59f6f94baeb1 | 390 | motor_control(1,speedB,0); |
majik | 0:59f6f94baeb1 | 391 | |
majik | 0:59f6f94baeb1 | 392 | } |