Final project for CS335 By Maxwell Poster and Jeffrey Resnik
Dependencies: mbed MPU6050_template ledControl2 USBDevice
main.cpp
- Committer:
- mposter
- Date:
- 2020-11-30
- Revision:
- 13:e9fe7586ab0c
- Parent:
- 10:72bbd203b210
- Child:
- 14:e6e3099e3b3b
File content as of revision 13:e9fe7586ab0c:
/* Getting Pitch and Roll Angles from MPU6050 * * @author: Baser Kandehir * @date: July 16, 2015 * @license: MIT license * * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * @description of the program: * * First of all most of the credit goes to Kris Winer for his useful MPU6050 code. * I rewrite the code in my way using class prototypes and my comments. This program * can be a starter point for more advanced projects including quadcopters, balancing * robots etc. Program takes accelerometer and gyroscope data from the MPU6050 registers * and calibrates them for better results. Then uses this data is to obtain pitch and roll * angles and writes these angles to the terminal which mbed is connected to. * * @connections: *-------------------------------------------------------------- * |LPC1768| |Peripherals| * Pin 9 ---------> SDA of MPU6050 * Pin 10 --------> SCL of MPU6050 * GND -----------> GND of MPU6050 * VOUT (3.3 V) --> VCC of MPU6050 *--------------------------------------------------------------- *-------------------------------------------------------------- * |NUCLEO F411RE| |Peripherals| * D14 -----------> SDA of MPU6050 * D15 -----------> SCL of MPU6050 * GND -----------> GND of MPU6050 * VOUT (3.3 V) --> VCC of MPU6050 *--------------------------------------------------------------- * Note: For any mistakes or comments, please contact me. */ #include "mbed.h" #include "MPU6050.h" #include "ledControl.h" #include "USBMouse.h" #include <deque> // std::queue #include <math.h> #define QUEUE_LENGTH 5 #define SCREEN_DISTANCE 0.5 #define RESOLUTION 100 #define ACCEL_RESOLUTION 500 #define SCROLLUP_LENGTH 5 #define SCROLLDOWN_LENGTH 5 //! Variable debug #define DEBUG /* */ /* Defined in the MPU6050.cpp file */ //I2C i2c(p9,p10); // setup i2c (SDA,SCL) //! Instance pc de classe Serial //Serial pc(USBTX,USBRX); // default baud rate: 9600 //! Instance mpu6050 de classe MPU6050 MPU6050 mpu6050; // class: MPU6050, object: mpu6050 //! instance toggler1 de classe Ticker //! instance filer de classe Ticker // Ticker // A Ticker is used to call a function at a recurring interval. // You can use as many separate Ticker objects as you require. Ticker toggler1; Ticker filter; //USBMouse objcet USBMouse mouse; void toggle_led1(); void toggle_led2(); void compFilter(); float pitchAngle = 0; float rollAngle = 0; //My funcs void calibrateGyro(); void calibrateAccel(); float sampleQueue(deque<float> q,float bias); void clearDeques(); void updateDeques(); int16_t processGX(); int16_t processGZ(); void processGyro(); int16_t processAX(); int16_t processAZ(); void processAccel(); void processMovement(); void checkClicks(); //end my funcs //Create queue to insert gyroReadings into deque<float> gyroReadingsx; deque<float> gyroReadingsz; //Create queue to insert accelReadings into deque<float> accelReadingsx; deque<float> accelReadingsz; //Predefined gyro bias. Subtract these from queue averages to get movement weight float gyroBiasx = 0; float gyroBiasz = 0; //Predefined accel bias. Subtract these from queue averages to get movement weight float accelBiasx = 0; float accelBiasz = 0; //Clicking pins DigitalIn leftClick(p16); DigitalIn rightClick(p15); //Scroll pins DigitalIn upScroll(p18); DigitalIn downScroll(p19); //Pause pin DigitalIn pause(p20); int main() { //Imported ////pc.baud(9600); // baud rate: 9600 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading wait(1); mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers ////////pc.printf("Calibration is completed. \r\n"); wait(0.5); mpu6050.init(); // Initialize the sensor wait(1); ////////pc.printf("MPU6050 is initialized for operation.. \r\n\r\n"); wait_ms(500); //End imported //Perform our own sampling calibration for(int i = 0; i < QUEUE_LENGTH; i++){ filter.attach(&compFilter, 0.005); updateDeques(); } calibrateGyro(); calibrateAccel(); ////////pc.printf("Bias x: %.3f | Bias z: %.3f\r\n",gyroBiasx,gyroBiasz); //wait(2.5); while(1) { //////////pc.printf(" _____________________________________________________________ \r\n"); //////////pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az); printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz); //////////pc.printf("|_____________________________________________________________ \r\n\r\n"); // //X AXIS GYRO //////pc.printf("x axis (gyro): "); //for(int i = 0; i < QUEUE_LENGTH; i++){ //////////pc.printf("%.3f ",gyroReadingsx[i]); //} //////pc.printf("\r\n"); //Z AXIS GYRO //////pc.printf("z axis (gyro): "); //for(int i = 0; i < QUEUE_LENGTH; i++){ //////////pc.printf("%.3f ",gyroReadingsz[i]); //} //////pc.printf("\r\n"); //wait(2.5); filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) //#ifdef DEBUG //////////pc.printf(" [Debug On] \r\n"); //mpu6050.complementaryFilter(&pitchAngle, &rollAngle); //#endif //////////pc.printf(" _______________\r\n"); //////////pc.printf("| Pitch: %.3f \r\n",pitchAngle); //////////pc.printf("| Roll: %.3f \r\n",rollAngle); //////////pc.printf("|_______________\r\n\r\n"); //wait(1); updateDeques(); processMovement(); checkClicks(); //wait(2.5); } } //Function to check and process button clicks for left and right mouse buttons void checkClicks(){ //Imported static bool preRightClick = false; if (leftClick) { mouse.press(MOUSE_LEFT); } else { mouse.release(MOUSE_LEFT); } // Right Mouse Click ___ Falling Edge Detection if (rightClick && !preRightClick) { preRightClick = true; } else if (!rightClick && preRightClick) { preRightClick = false; mouse.click(MOUSE_RIGHT); } //End imported //Listen for scroll up button if(upScroll){ for(int i = 0; i < SCROLLUP_LENGTH; i++){ mouse.scroll(-1); } mouse.release(MOUSE_MIDDLE); } //Listen for scroll down button if(downScroll){ for(int i = 0; i < SCROLLDOWN_LENGTH; i++){ mouse.scroll(1); } mouse.release(MOUSE_MIDDLE); } //Loop while pause button is pressed while(pause); } //Only care about x and z axis // -z -> Right side of screen; +z -> Left side of screen // -x - > Bottom of screen; +x -> Top of screen int16_t processGX(){ //Obtain sample from deque float sample = sampleQueue(gyroReadingsx,gyroBiasx); //Convert to radians float sampleRadians = sample*PI/180.0; float deltaX = SCREEN_DISTANCE*RESOLUTION*tan(sampleRadians); int16_t sending = 0 + deltaX; printf("x axis MOVING: %.3f, sending: %i\r\n",deltaX,sending); //Do tangent calculation to obtain opposite length //x = L*tan(theta) //mouse.move(0,sending*-1); return -1*sending; } int16_t processGZ(){ //Obtain sample from deque float sample = sampleQueue(gyroReadingsz,gyroBiasz); //////////////pc.printf("sample y: %.3f \r\n", sample); //Convert to radians float sampleRadians = sample*PI/180.0; //////pc.printf("sample (Radians) y: %.3f \r\n", sampleRadians); float deltaZ = SCREEN_DISTANCE*RESOLUTION*tan(sampleRadians); //Apply multipliers to enable mouse acceleration if(deltaZ > 0){ deltaZ*=1.75; }else{ deltaZ*=1.5; } //////pc.printf("without cast: %.3f",SCREEN_DISTANCE*RESOLUTION*tan(sampleRadians)); int16_t sending = 0 + deltaZ; printf("z axis MOVING: %.3f, sending: %i\r\n",deltaZ,sending); //Do tangent calculation to obtain opposite length //x = L*tan(theta) //mouse.move(sending*-1,0); return -1*sending; } int16_t processAX(){ //Obtain sample from deque float sample = sampleQueue(accelReadingsx,accelBiasx); int16_t sending = 0 + sample*ACCEL_RESOLUTION; printf("ax axis MOVING: %.3f, sending: %i\r\n",sample,sending); //Do tangent calculation to obtain opposite length ////x = L*tan(theta) //mouse.move(0,sending*-1); return -1*sending; } int16_t processAZ(){ //Obtain sample from deque float sample = sampleQueue(accelReadingsz,accelBiasz); //////////////pc.printf("sample y: %.3f \r\n", sample); //////pc.printf("without cast: %.3f",SCREEN_DISTANCE*RESOLUTION*tan(sampleRadians)); int16_t sending = 0 + sample*ACCEL_RESOLUTION; printf("az axis MOVING: %.3f, sending: %i\r\n",sample,sending); //Do tangent calculation to obtain opposite length //x = L*tan(theta) //mouse.move(sending*-1,0); return -1*sending; } void processGyro(){ int16_t y = processGX(); int16_t x = processGZ(); mouse.move(x,y); } void processAccel(){ int16_t y = processAX(); int16_t x = processAZ(); mouse.move(x,y); } void processMovement(){ processGyro(); //processAccel(); } void updateDeques(){ //Update gyro deques gyroReadingsx.pop_back(); gyroReadingsz.pop_back(); gyroReadingsx.push_front(gx); gyroReadingsz.push_front(gz); //Update accel deques accelReadingsx.pop_back(); accelReadingsz.pop_back(); accelReadingsx.push_front(ax); accelReadingsz.push_front(az); } void clearDeques(){ //Check for bad queue size if(gyroReadingsx.size() < QUEUE_LENGTH || gyroReadingsz.size() < QUEUE_LENGTH || accelReadingsx.size() < QUEUE_LENGTH || accelReadingsz.size() < QUEUE_LENGTH){ while(1) printf("Bad queue size. Hanging...\n"); } //Clear gyro deques for(int i = 0; i < QUEUE_LENGTH; i++){ gyroReadingsx.pop_back(); gyroReadingsz.pop_back(); } //Clear accel deques for(int i = 0; i < QUEUE_LENGTH; i++){ accelReadingsx.pop_back(); accelReadingsz.pop_back(); } } void calibrateGyro(){ //Only care about x and z axis // -z -> Right side of screen; +z -> Left side of screen // -x - > Bottom of screen; +x -> Top of screen float xSum = 0; float zSum = 0; //Iterate for QUEUE_LENGTH samples from gyroscope for(int i = 0; i < QUEUE_LENGTH; i++){ float xReading = gx; float zReading = gz; printf("CALIB GX,GZ: %.3f %.3f \r\n", gx,gz); //Apply filter to incoming readings filter.attach(&compFilter, 0.005); //push gyro x and z readings onto deque gyroReadingsx.push_front(xReading); gyroReadingsz.push_front(zReading); //add samples to sum totals xSum += xReading; zSum += zReading; } //Set sampled bias for each gyro axis gyroBiasx = xSum/QUEUE_LENGTH; gyroBiasz = zSum/QUEUE_LENGTH; } void calibrateAccel(){ //Only care about x and z axis // -z -> Right side of screen; +z -> Left side of screen // -x - > Bottom of screen; +x -> Top of screen float xSum = 0; float zSum = 0; //Iterate for QUEUE_LENGTH samples from gyroscope for(int i = 0; i < QUEUE_LENGTH; i++){ float xReading = ax; float zReading = az; printf("CALIB AX,AZ: %.3f %.3f \r\n", ax,az); //Apply filter to incoming readings filter.attach(&compFilter, 0.005); //push gyro x and z readings onto deque accelReadingsx.push_front(xReading); accelReadingsz.push_front(zReading); //add samples to sum totals xSum += xReading; zSum += zReading; } //Set sampled bias for each gyro axis accelBiasx = xSum/QUEUE_LENGTH; accelBiasz = zSum/QUEUE_LENGTH; } //Calculate average of samples in a deque float calculateAverage(deque<float> q){ float sum = 0; for(int i = 0; i < q.size(); i++){ sum+=q[i]; } return sum/q.size(); } //Subtract the bias from the average of samples in a deque to offset idle values float sampleQueue(deque<float> q,float bias){ //Alternatively, may want to calculate the average and subtract next incoming reading by avg return calculateAverage(q) - bias; } //Imported void toggle_led1() {ledToggle(1);} void toggle_led2() {ledToggle(2);} /* This function is created to avoid address error that caused from Ticker.attach func */ void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);} //End imported