Mukund Pandiri / Mbed 2 deprecated segway-balancing

self-balancing-robot

Dependencies:   mbed mbed-rtos Motor

main.cpp@16:f9e3df933304, 2020-04-23 (annotated)

Committer:
lrucker7
Date:
Thu Apr 23 15:27:21 2020 +0000
Revision:
16:f9e3df933304
Parent:
15:f0f19572c4a5
Child:
17:afde478daa01
preliminary gyro

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 12:1fc4b3d94397 19
pandirimukund 12:1fc4b3d94397 20 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 21 ///////////////////////////// Control System Variables/////////////////////////
pandirimukund 12:1fc4b3d94397 22 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 23 float rp = 50;
pandirimukund 12:1fc4b3d94397 24 float rd = 51;
pandirimukund 12:1fc4b3d94397 25 float ri = 50;
pandirimukund 12:1fc4b3d94397 26 float desired_angle = 0;
pandirimukund 12:1fc4b3d94397 27
pandirimukund 12:1fc4b3d94397 28 float speed = 0;
pandirimukund 12:1fc4b3d94397 29
pandirimukund 12:1fc4b3d94397 30 float pAngle = 0;
pandirimukund 12:1fc4b3d94397 31 float dAngle = 0;
pandirimukund 12:1fc4b3d94397 32 float iAngle = 0;
pandirimukund 12:1fc4b3d94397 33
pandirimukund 12:1fc4b3d94397 34 int time_segment = 5; //Update the speed every 5 milliseconds
pandirimukund 12:1fc4b3d94397 35
lrucker7 16:f9e3df933304 36 void get_current_angle();
pandirimukund 12:1fc4b3d94397 37
pandirimukund 12:1fc4b3d94397 38
pandirimukund 12:1fc4b3d94397 39 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 40 ///////////////////////////// Bluetooth Section ///////////////////////////////
pandirimukund 12:1fc4b3d94397 41 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 42 void bluetooth_update() {
pandirimukund 12:1fc4b3d94397 43 char bnum = 0;
pandirimukund 12:1fc4b3d94397 44 char bhit = 0;
pandirimukund 12:1fc4b3d94397 45 while (1) {
pandirimukund 12:1fc4b3d94397 46 if (blue.getc() == '!') {
pandirimukund 12:1fc4b3d94397 47 if (blue.getc() == 'B') { //button data packet
pandirimukund 12:1fc4b3d94397 48 bnum = blue.getc(); //button number
pandirimukund 12:1fc4b3d94397 49 //pc.printf("%d",bnum);
pandirimukund 12:1fc4b3d94397 50 bhit = blue.getc(); //1=hit, 0=release
pandirimukund 12:1fc4b3d94397 51 parametersmutex.lock();
pandirimukund 12:1fc4b3d94397 52 if (blue.getc() == char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
pandirimukund 12:1fc4b3d94397 53 switch (bnum) {
pandirimukund 12:1fc4b3d94397 54 case '1': //number button 1
pandirimukund 12:1fc4b3d94397 55 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 56 rd += 1;
pandirimukund 12:1fc4b3d94397 57 } else {
pandirimukund 12:1fc4b3d94397 58 //add release code here
pandirimukund 12:1fc4b3d94397 59 }
pandirimukund 12:1fc4b3d94397 60 break;
pandirimukund 12:1fc4b3d94397 61 case '2': //number button 2
pandirimukund 12:1fc4b3d94397 62 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 63 ri += 1;
pandirimukund 12:1fc4b3d94397 64 } else {
pandirimukund 12:1fc4b3d94397 65 //add release code here
pandirimukund 12:1fc4b3d94397 66 }
pandirimukund 12:1fc4b3d94397 67 break;
pandirimukund 12:1fc4b3d94397 68 case '3': //number button 3
pandirimukund 12:1fc4b3d94397 69 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 70 rd -= 1;
pandirimukund 12:1fc4b3d94397 71 } else {
pandirimukund 12:1fc4b3d94397 72 //add release code here
pandirimukund 12:1fc4b3d94397 73 }
pandirimukund 12:1fc4b3d94397 74 break;
pandirimukund 12:1fc4b3d94397 75 case '4': //number button 4
pandirimukund 12:1fc4b3d94397 76 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 77 ri -= 1;
pandirimukund 12:1fc4b3d94397 78 } else {
pandirimukund 12:1fc4b3d94397 79 //add release code here
pandirimukund 12:1fc4b3d94397 80 }
pandirimukund 12:1fc4b3d94397 81 break;
pandirimukund 12:1fc4b3d94397 82 case '5': //button 5 up arrow
pandirimukund 12:1fc4b3d94397 83 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 84 rp += 1;
pandirimukund 12:1fc4b3d94397 85 } else {
pandirimukund 12:1fc4b3d94397 86 //add release code here
pandirimukund 12:1fc4b3d94397 87 }
pandirimukund 12:1fc4b3d94397 88 break;
pandirimukund 12:1fc4b3d94397 89 case '6': //button 6 down arrow
pandirimukund 12:1fc4b3d94397 90 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 91 rp -= 1;
pandirimukund 12:1fc4b3d94397 92 } else {
pandirimukund 12:1fc4b3d94397 93 //add release code here
pandirimukund 12:1fc4b3d94397 94 }
pandirimukund 12:1fc4b3d94397 95 break;
pandirimukund 12:1fc4b3d94397 96 case '7': //button 7 left arrow
pandirimukund 12:1fc4b3d94397 97 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 98 desired_angle -= 1;
pandirimukund 12:1fc4b3d94397 99 } else {
pandirimukund 12:1fc4b3d94397 100 //add release code here
pandirimukund 12:1fc4b3d94397 101 }
pandirimukund 12:1fc4b3d94397 102 break;
pandirimukund 12:1fc4b3d94397 103 case '8': //button 8 right arrow
pandirimukund 12:1fc4b3d94397 104 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 105 desired_angle += 1;
pandirimukund 12:1fc4b3d94397 106 } else {
pandirimukund 12:1fc4b3d94397 107 //add release code here
pandirimukund 12:1fc4b3d94397 108 }
pandirimukund 12:1fc4b3d94397 109 break;
pandirimukund 12:1fc4b3d94397 110 default:
pandirimukund 12:1fc4b3d94397 111 break;
pandirimukund 12:1fc4b3d94397 112 }
pandirimukund 12:1fc4b3d94397 113 }
pandirimukund 12:1fc4b3d94397 114 parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 115 }
pandirimukund 12:1fc4b3d94397 116 }
pandirimukund 12:1fc4b3d94397 117 Thread::wait(100);
emilmont 1:491820ee784d 118 }
emilmont 1:491820ee784d 119 }
pandirimukund 12:1fc4b3d94397 120
pandirimukund 12:1fc4b3d94397 121
pandirimukund 12:1fc4b3d94397 122 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 123 ///////////////////////////// Control System Updates///////////////////////////
pandirimukund 12:1fc4b3d94397 124 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 125 //make the calls to IMU here and this should be another thread
pandirimukund 12:1fc4b3d94397 126 void update_system() {
lrucker7 16:f9e3df933304 127 while(1){
lrucker7 16:f9e3df933304 128 get_current_angle();
lrucker7 16:f9e3df933304 129 //pc.printf("this is running 100");
lrucker7 16:f9e3df933304 130 Thread::wait(10);
lrucker7 16:f9e3df933304 131 }
pandirimukund 12:1fc4b3d94397 132 }
pandirimukund 12:1fc4b3d94397 133
pandirimukund 12:1fc4b3d94397 134
pandirimukund 12:1fc4b3d94397 135 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 136 ///////////////////////////// IMU STUFF////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 137 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 138 void calibrate_imu() {
pandirimukund 12:1fc4b3d94397 139 return;
pandirimukund 12:1fc4b3d94397 140 }
pandirimukund 12:1fc4b3d94397 141
pandirimukund 12:1fc4b3d94397 142 void get_current_angle() {
pandirimukund 13:8d8ac3189984 143 // return;
pandirimukund 13:8d8ac3189984 144 imu.readGyro();
pandirimukund 15:f0f19572c4a5 145 int gyro = -imu.gy * .01;
lrucker7 16:f9e3df933304 146 //pc.printf("gyro:%f",gyro);
pandirimukund 15:f0f19572c4a5 147 angleMutex.lock();
pandirimukund 15:f0f19572c4a5 148 pAngle += gyro;
pandirimukund 15:f0f19572c4a5 149 angleMutex.unlock();
pandirimukund 12:1fc4b3d94397 150 }
pandirimukund 12:1fc4b3d94397 151
pandirimukund 12:1fc4b3d94397 152
pandirimukund 12:1fc4b3d94397 153
pandirimukund 12:1fc4b3d94397 154
pandirimukund 12:1fc4b3d94397 155 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 156 ///////////////////////////// Running Main Function////////////////////////////
pandirimukund 12:1fc4b3d94397 157 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 158
emilmont 1:491820ee784d 159 int main() {
pandirimukund 12:1fc4b3d94397 160 pc.printf("this is running");
pandirimukund 12:1fc4b3d94397 161 Thread bluetooth;
pandirimukund 12:1fc4b3d94397 162 Thread system_update;
emilmont 1:491820ee784d 163
pandirimukund 14:f9c2cf6643cf 164 imu.begin();
pandirimukund 12:1fc4b3d94397 165
pandirimukund 12:1fc4b3d94397 166 bluetooth.start(bluetooth_update);
pandirimukund 12:1fc4b3d94397 167 system_update.start(update_system);
pandirimukund 12:1fc4b3d94397 168
pandirimukund 12:1fc4b3d94397 169 //bluetooth.attach(&bluetooth_update, 0.1);
pandirimukund 12:1fc4b3d94397 170 while (1) {
lrucker7 16:f9e3df933304 171
pandirimukund 12:1fc4b3d94397 172 //bluetooth_update();
lrucker7 16:f9e3df933304 173 //parametersmutex.lock();
lrucker7 16:f9e3df933304 174 // pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f\n", rp, rd, ri, desired_angle);
lrucker7 16:f9e3df933304 175 // parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 176
pandirimukund 15:f0f19572c4a5 177 angleMutex.lock();
pandirimukund 15:f0f19572c4a5 178 pc.printf("pAngle: %f", pAngle);
pandirimukund 15:f0f19572c4a5 179 angleMutex.unlock();
pandirimukund 15:f0f19572c4a5 180
pandirimukund 15:f0f19572c4a5 181
lrucker7 16:f9e3df933304 182 //get_current_angle();
pandirimukund 14:f9c2cf6643cf 183
pandirimukund 12:1fc4b3d94397 184
pandirimukund 12:1fc4b3d94397 185 Thread::wait(100);
emilmont 1:491820ee784d 186 }
emilmont 1:491820ee784d 187 }
pandirimukund 12:1fc4b3d94397 188