Mukund Pandiri / Mbed 2 deprecated segway-balancing

self-balancing-robot

Dependencies:   mbed mbed-rtos Motor

main.cpp@24:105abc3a7c72, 2020-04-23 (annotated)

Committer:
pandirimukund
Date:
Thu Apr 23 16:36:53 2020 +0000
Revision:
24:105abc3a7c72
Parent:
22:bb9b9d3b45d8 
added initial speed stuff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 1:491820ee784d 1 #include "mbed.h"
mbed_official 11:0309bef74ba8 2 #include "rtos.h"
pandirimukund 13:8d8ac3189984 3 #include "LSM9DS1.h"
pandirimukund 12:1fc4b3d94397 4
pandirimukund 12:1fc4b3d94397 5
pandirimukund 12:1fc4b3d94397 6 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 7 ///////////////////////////// Variable Initialization//////////////////////////
pandirimukund 12:1fc4b3d94397 8 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 9 Ticker bluetooth;
pandirimukund 12:1fc4b3d94397 10 Serial pc(USBTX, USBRX);
pandirimukund 12:1fc4b3d94397 11
pandirimukund 13:8d8ac3189984 12
pandirimukund 12:1fc4b3d94397 13 Mutex parametersmutex;
pandirimukund 15:f0f19572c4a5 14 Mutex angleMutex;
pandirimukund 12:1fc4b3d94397 15 Serial blue(p28, p27);
pandirimukund 12:1fc4b3d94397 16
pandirimukund 13:8d8ac3189984 17 LSM9DS1 imu(p9, p10, 0xD6, 0x3C);
pandirimukund 12:1fc4b3d94397 18
pandirimukund 24:105abc3a7c72 19 PwmOut leftWheel(p21);
pandirimukund 24:105abc3a7c72 20 PwmOut rightWheel(p22);
pandirimukund 24:105abc3a7c72 21
pandirimukund 12:1fc4b3d94397 22
pandirimukund 12:1fc4b3d94397 23 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 24 ///////////////////////////// Control System Variables/////////////////////////
pandirimukund 12:1fc4b3d94397 25 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 26 float rp = 50;
pandirimukund 12:1fc4b3d94397 27 float rd = 51;
pandirimukund 12:1fc4b3d94397 28 float ri = 50;
pandirimukund 12:1fc4b3d94397 29 float desired_angle = 0;
pandirimukund 12:1fc4b3d94397 30
pandirimukund 12:1fc4b3d94397 31 float speed = 0;
pandirimukund 12:1fc4b3d94397 32
pandirimukund 12:1fc4b3d94397 33 float pAngle = 0;
pandirimukund 12:1fc4b3d94397 34 float dAngle = 0;
pandirimukund 12:1fc4b3d94397 35 float iAngle = 0;
pandirimukund 12:1fc4b3d94397 36
pandirimukund 12:1fc4b3d94397 37 int time_segment = 5; //Update the speed every 5 milliseconds
pandirimukund 12:1fc4b3d94397 38
lrucker7 16:f9e3df933304 39 void get_current_angle();
pandirimukund 12:1fc4b3d94397 40
pandirimukund 18:11883c581785 41 float angleBiasGyro = 0;
pandirimukund 19:9ea181b003af 42 float angleBiasAcc = 0;
pandirimukund 17:afde478daa01 43
pandirimukund 12:1fc4b3d94397 44
pandirimukund 12:1fc4b3d94397 45 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 46 ///////////////////////////// Bluetooth Section ///////////////////////////////
pandirimukund 12:1fc4b3d94397 47 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 48 void bluetooth_update() {
pandirimukund 12:1fc4b3d94397 49 char bnum = 0;
pandirimukund 12:1fc4b3d94397 50 char bhit = 0;
pandirimukund 12:1fc4b3d94397 51 while (1) {
pandirimukund 12:1fc4b3d94397 52 if (blue.getc() == '!') {
pandirimukund 12:1fc4b3d94397 53 if (blue.getc() == 'B') { //button data packet
pandirimukund 12:1fc4b3d94397 54 bnum = blue.getc(); //button number
pandirimukund 12:1fc4b3d94397 55 //pc.printf("%d",bnum);
pandirimukund 12:1fc4b3d94397 56 bhit = blue.getc(); //1=hit, 0=release
pandirimukund 12:1fc4b3d94397 57 parametersmutex.lock();
pandirimukund 12:1fc4b3d94397 58 if (blue.getc() == char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
pandirimukund 12:1fc4b3d94397 59 switch (bnum) {
pandirimukund 12:1fc4b3d94397 60 case '1': //number button 1
pandirimukund 12:1fc4b3d94397 61 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 62 rd += 1;
pandirimukund 12:1fc4b3d94397 63 } else {
pandirimukund 12:1fc4b3d94397 64 //add release code here
pandirimukund 12:1fc4b3d94397 65 }
pandirimukund 12:1fc4b3d94397 66 break;
pandirimukund 12:1fc4b3d94397 67 case '2': //number button 2
pandirimukund 12:1fc4b3d94397 68 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 69 ri += 1;
pandirimukund 12:1fc4b3d94397 70 } else {
pandirimukund 12:1fc4b3d94397 71 //add release code here
pandirimukund 12:1fc4b3d94397 72 }
pandirimukund 12:1fc4b3d94397 73 break;
pandirimukund 12:1fc4b3d94397 74 case '3': //number button 3
pandirimukund 12:1fc4b3d94397 75 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 76 rd -= 1;
pandirimukund 12:1fc4b3d94397 77 } else {
pandirimukund 12:1fc4b3d94397 78 //add release code here
pandirimukund 12:1fc4b3d94397 79 }
pandirimukund 12:1fc4b3d94397 80 break;
pandirimukund 12:1fc4b3d94397 81 case '4': //number button 4
pandirimukund 12:1fc4b3d94397 82 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 83 ri -= 1;
pandirimukund 12:1fc4b3d94397 84 } else {
pandirimukund 12:1fc4b3d94397 85 //add release code here
pandirimukund 12:1fc4b3d94397 86 }
pandirimukund 12:1fc4b3d94397 87 break;
pandirimukund 12:1fc4b3d94397 88 case '5': //button 5 up arrow
pandirimukund 12:1fc4b3d94397 89 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 90 rp += 1;
pandirimukund 12:1fc4b3d94397 91 } else {
pandirimukund 12:1fc4b3d94397 92 //add release code here
pandirimukund 12:1fc4b3d94397 93 }
pandirimukund 12:1fc4b3d94397 94 break;
pandirimukund 12:1fc4b3d94397 95 case '6': //button 6 down arrow
pandirimukund 12:1fc4b3d94397 96 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 97 rp -= 1;
pandirimukund 12:1fc4b3d94397 98 } else {
pandirimukund 12:1fc4b3d94397 99 //add release code here
pandirimukund 12:1fc4b3d94397 100 }
pandirimukund 12:1fc4b3d94397 101 break;
pandirimukund 12:1fc4b3d94397 102 case '7': //button 7 left arrow
pandirimukund 12:1fc4b3d94397 103 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 104 desired_angle -= 1;
pandirimukund 12:1fc4b3d94397 105 } else {
pandirimukund 12:1fc4b3d94397 106 //add release code here
pandirimukund 12:1fc4b3d94397 107 }
pandirimukund 12:1fc4b3d94397 108 break;
pandirimukund 12:1fc4b3d94397 109 case '8': //button 8 right arrow
pandirimukund 12:1fc4b3d94397 110 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 111 desired_angle += 1;
pandirimukund 12:1fc4b3d94397 112 } else {
pandirimukund 12:1fc4b3d94397 113 //add release code here
pandirimukund 12:1fc4b3d94397 114 }
pandirimukund 12:1fc4b3d94397 115 break;
pandirimukund 12:1fc4b3d94397 116 default:
pandirimukund 12:1fc4b3d94397 117 break;
pandirimukund 12:1fc4b3d94397 118 }
pandirimukund 12:1fc4b3d94397 119 }
pandirimukund 12:1fc4b3d94397 120 parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 121 }
pandirimukund 12:1fc4b3d94397 122 }
pandirimukund 12:1fc4b3d94397 123 Thread::wait(100);
emilmont 1:491820ee784d 124 }
emilmont 1:491820ee784d 125 }
pandirimukund 12:1fc4b3d94397 126
pandirimukund 24:105abc3a7c72 127 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 24:105abc3a7c72 128 ///////////////////////////// update motor speeds///////////////////////////
pandirimukund 24:105abc3a7c72 129 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 24:105abc3a7c72 130 void set_wheel_speed(float speed) {
pandirimukund 24:105abc3a7c72 131 if(speed > 1) speed = 1;
pandirimukund 24:105abc3a7c72 132 if speed < -1) speed = -1;
pandirimukund 24:105abc3a7c72 133 leftWheel = speed;
pandirimukund 24:105abc3a7c72 134 rightWheel = speed;
pandirimukund 24:105abc3a7c72 135 }
pandirimukund 24:105abc3a7c72 136
pandirimukund 12:1fc4b3d94397 137
pandirimukund 12:1fc4b3d94397 138 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 139 ///////////////////////////// Control System Updates///////////////////////////
pandirimukund 12:1fc4b3d94397 140 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 141 //make the calls to IMU here and this should be another thread
pandirimukund 12:1fc4b3d94397 142 void update_system() {
lrucker7 16:f9e3df933304 143 while(1){
lrucker7 16:f9e3df933304 144 get_current_angle();
lrucker7 16:f9e3df933304 145 //pc.printf("this is running 100");
pandirimukund 24:105abc3a7c72 146 angleMutex.lock();
pandirimukund 24:105abc3a7c72 147 speed = -1*(rp*pAngle + ri*iAngle + rd*dAngle)/150;
pandirimukund 24:105abc3a7c72 148 set_wheel_speed(speed);
pandirimukund 24:105abc3a7c72 149 angleMutex.unlock();
lrucker7 16:f9e3df933304 150 Thread::wait(10);
lrucker7 16:f9e3df933304 151 }
pandirimukund 12:1fc4b3d94397 152 }
pandirimukund 12:1fc4b3d94397 153
pandirimukund 12:1fc4b3d94397 154
pandirimukund 12:1fc4b3d94397 155 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 156 ///////////////////////////// IMU STUFF////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 157 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 158 void calibrate_imu() {
pandirimukund 17:afde478daa01 159 for(int i = 0; i < 500; i++){
pandirimukund 17:afde478daa01 160 imu.readGyro();
pandirimukund 19:9ea181b003af 161 angleBiasGyro += imu.calcGyro(imu.gy);
lrucker7 20:6b5f83412413 162 //angleBiasAcc += (-1)*atan2(imu.ax,imu.az)*180/3.142-90
pandirimukund 17:afde478daa01 163 }
pandirimukund 18:11883c581785 164 angleBiasGyro /= 500;
pandirimukund 18:11883c581785 165 angleBiasAcc /= 500;
pandirimukund 12:1fc4b3d94397 166 }
pandirimukund 12:1fc4b3d94397 167
pandirimukund 12:1fc4b3d94397 168 void get_current_angle() {
pandirimukund 13:8d8ac3189984 169 // return;
pandirimukund 13:8d8ac3189984 170 imu.readGyro();
pandirimukund 22:bb9b9d3b45d8 171 int gyro = -(imu.calcGyro(imu.gy)) * .01;
lrucker7 20:6b5f83412413 172 //int acc = (-1)*atan2(imu.ax,imu.az)*180/3.142-90-angleBiasAcc;
lrucker7 16:f9e3df933304 173 //pc.printf("gyro:%f",gyro);
pandirimukund 15:f0f19572c4a5 174 angleMutex.lock();
pandirimukund 24:105abc3a7c72 175 dAngle = pAngle;
pandirimukund 24:105abc3a7c72 176 pAngle += 1*gyro; //+ 0.02*acc;
pandirimukund 24:105abc3a7c72 177 dAngle = pAngle - dAngle;
pandirimukund 24:105abc3a7c72 178 iAngle += pAngle * 0.01;
pandirimukund 15:f0f19572c4a5 179 angleMutex.unlock();
pandirimukund 12:1fc4b3d94397 180 }
pandirimukund 12:1fc4b3d94397 181
pandirimukund 12:1fc4b3d94397 182
pandirimukund 12:1fc4b3d94397 183
pandirimukund 12:1fc4b3d94397 184
pandirimukund 12:1fc4b3d94397 185 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 186 ///////////////////////////// Running Main Function////////////////////////////
pandirimukund 12:1fc4b3d94397 187 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 188
emilmont 1:491820ee784d 189 int main() {
pandirimukund 12:1fc4b3d94397 190 pc.printf("this is running");
lrucker7 21:949558e7a48c 191
pandirimukund 12:1fc4b3d94397 192 Thread bluetooth;
pandirimukund 12:1fc4b3d94397 193 Thread system_update;
emilmont 1:491820ee784d 194
pandirimukund 14:f9c2cf6643cf 195 imu.begin();
pandirimukund 22:bb9b9d3b45d8 196 imu.calibrate(1);
pandirimukund 22:bb9b9d3b45d8 197
pandirimukund 12:1fc4b3d94397 198 bluetooth.start(bluetooth_update);
pandirimukund 12:1fc4b3d94397 199 system_update.start(update_system);
pandirimukund 12:1fc4b3d94397 200
pandirimukund 12:1fc4b3d94397 201 //bluetooth.attach(&bluetooth_update, 0.1);
pandirimukund 12:1fc4b3d94397 202 while (1) {
lrucker7 16:f9e3df933304 203
pandirimukund 12:1fc4b3d94397 204 //bluetooth_update();
lrucker7 16:f9e3df933304 205 //parametersmutex.lock();
lrucker7 16:f9e3df933304 206 // pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f\n", rp, rd, ri, desired_angle);
lrucker7 16:f9e3df933304 207 // parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 208
pandirimukund 15:f0f19572c4a5 209 angleMutex.lock();
pandirimukund 15:f0f19572c4a5 210 pc.printf("pAngle: %f", pAngle);
pandirimukund 24:105abc3a7c72 211 pc.printf("speed: %f", speed);
pandirimukund 15:f0f19572c4a5 212 angleMutex.unlock();
pandirimukund 15:f0f19572c4a5 213
pandirimukund 15:f0f19572c4a5 214
lrucker7 16:f9e3df933304 215 //get_current_angle();
pandirimukund 14:f9c2cf6643cf 216
pandirimukund 12:1fc4b3d94397 217
pandirimukund 12:1fc4b3d94397 218 Thread::wait(100);
emilmont 1:491820ee784d 219 }
emilmont 1:491820ee784d 220 }
pandirimukund 12:1fc4b3d94397 221