Maxwell Poster
/
CS335_Final_Project_i2c_MPU6050_Gyro_Mouse
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Dependencies: mbed MPU6050_template ledControl2 USBDevice
Revision 3:88737ad5c803, committed 2015-07-13
- Comitter:
- BaserK
- Date:
- Mon Jul 13 13:19:08 2015 +0000
- Parent:
- 2:497faa1563ea
- Child:
- 4:33fef1998fc8
- Commit message:
- Complementary filter and pitch, roll angles are added
Changed in this revision
--- a/MPU6050.lib Thu Jul 09 12:28:26 2015 +0000 +++ b/MPU6050.lib Mon Jul 13 13:19:08 2015 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/BaserK/code/MPU6050/#954f15bd95f1 +https://developer.mbed.org/users/BaserK/code/MPU6050/#a248e65a25cc
--- a/main.cpp Thu Jul 09 12:28:26 2015 +0000
+++ b/main.cpp Mon Jul 13 13:19:08 2015 +0000
@@ -40,9 +40,15 @@
Serial ftdi(p13,p14); // default baud rate: 9600
MPU6050 mpu6050; // class: MPU6050, object: mpu6050
Ticker toggler1;
+Ticker filter;
void toggle_led1();
void toggle_led2();
+void complementaryFilter(float* pitch, float* roll);
+void compFilter();
+
+float pitchAngle = 0;
+float rollAngle = 0;
int main()
{
@@ -60,28 +66,72 @@
while(1)
{
- /* Get actual acc value */
- mpu6050.readAccelData(accelData);
- mpu6050.getAres();
- ax = accelData[0]*aRes - accelBias[0];
- ay = accelData[1]*aRes - accelBias[1];
- az = accelData[2]*aRes - accelBias[2];
+// /* Get actual acc value */
+// mpu6050.readAccelData(accelData);
+// mpu6050.getAres();
+// ax = accelData[0]*aRes - accelBias[0];
+// ay = accelData[1]*aRes - accelBias[1];
+// az = accelData[2]*aRes - accelBias[2];
+//
+// /* Get actual gyro value */
+// mpu6050.readGyroData(gyroData);
+// mpu6050.getGres();
+// gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i]
+// gy = gyroData[1]*gRes; // - gyroBias[1];
+// gz = gyroData[2]*gRes; // - gyroBias[2];
+//
+// ftdi.printf(" _____________________________________________________________ \r\n");
+// ftdi.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az);
+// ftdi.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz);
+// ftdi.printf("|_____________________________________________________________ \r\n\r\n");
+//
+// wait(2.5);
+
+ filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
- /* Get actual gyro value */
- mpu6050.readGyroData(gyroData);
- mpu6050.getGres();
- gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i]
- gy = gyroData[1]*gRes; // - gyroBias[1];
- gz = gyroData[2]*gRes; // - gyroBias[2];
+ ftdi.printf(" _______________\r\n");
+ ftdi.printf("| Pitch: %.3f \r\n",pitchAngle);
+ ftdi.printf("| Roll: %.3f \r\n",rollAngle);
+ ftdi.printf("|_______________\r\n\r\n");
- ftdi.printf(" _____________________________________________________________ \r\n");
- ftdi.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az);
- ftdi.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz);
- ftdi.printf("|_____________________________________________________________ \r\n\r\n");
-
- wait(2.5);
+ wait(1);
}
}
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() {complementaryFilter(&pitchAngle, &rollAngle);}
+
+void complementaryFilter(float* pitch, float* roll)
+{
+ /* Get actual acc value */
+ mpu6050.readAccelData(accelData);
+ mpu6050.getAres();
+ ax = accelData[0]*aRes - accelBias[0];
+ ay = accelData[1]*aRes - accelBias[1];
+ az = accelData[2]*aRes - accelBias[2];
+
+ /* Get actual gyro value */
+ mpu6050.readGyroData(gyroData);
+ mpu6050.getGres();
+ gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i]
+ gy = gyroData[1]*gRes; // - gyroBias[1];
+ gz = gyroData[2]*gRes; // - gyroBias[2];
+
+ float pitchAcc, rollAcc;
+
+ /* Integrate the gyro data(deg/s) over time to get angle */
+ *pitch += gx * dt; // Angle around the X-axis
+ *roll -= gy * dt; // Angle around the Y-axis
+
+ /* Turning around the X-axis results in a vector on the Y-axis
+ whereas turning around the Y-axis results in a vector on the X-axis. */
+ pitchAcc = atan2f((float)accelData[1], (float)accelData[2])*180/PI;
+ rollAcc = atan2f((float)accelData[0], (float)accelData[2])*180/PI;
+
+ /* Apply Complementary Filter */
+ *pitch = *pitch * 0.98 + pitchAcc * 0.02;
+ *roll = *roll * 0.98 + rollAcc * 0.02;
+}
\ No newline at end of file
--- a/mbed.bld Thu Jul 09 12:28:26 2015 +0000 +++ b/mbed.bld Mon Jul 13 13:19:08 2015 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/7cff1c4259d7 \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/da0ca467f8b5 \ No newline at end of file