Mukund Pandiri / Mbed 2 deprecated segway-balancing

self-balancing-robot

Dependencies:   mbed mbed-rtos Motor

main.cpp@18:11883c581785, 2020-04-23 (annotated)

Committer:
pandirimukund
Date:
Thu Apr 23 15:46:11 2020 +0000
Revision:
18:11883c581785
Parent:
17:afde478daa01
Child:
19:9ea181b003af
added acceleration from 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 18:11883c581785 38 float angleBiasGyro = 0;
pandirimukund 17:afde478daa01 39
pandirimukund 12:1fc4b3d94397 40
pandirimukund 12:1fc4b3d94397 41 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 42 ///////////////////////////// Bluetooth Section ///////////////////////////////
pandirimukund 12:1fc4b3d94397 43 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 44 void bluetooth_update() {
pandirimukund 12:1fc4b3d94397 45 char bnum = 0;
pandirimukund 12:1fc4b3d94397 46 char bhit = 0;
pandirimukund 12:1fc4b3d94397 47 while (1) {
pandirimukund 12:1fc4b3d94397 48 if (blue.getc() == '!') {
pandirimukund 12:1fc4b3d94397 49 if (blue.getc() == 'B') { //button data packet
pandirimukund 12:1fc4b3d94397 50 bnum = blue.getc(); //button number
pandirimukund 12:1fc4b3d94397 51 //pc.printf("%d",bnum);
pandirimukund 12:1fc4b3d94397 52 bhit = blue.getc(); //1=hit, 0=release
pandirimukund 12:1fc4b3d94397 53 parametersmutex.lock();
pandirimukund 12:1fc4b3d94397 54 if (blue.getc() == char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
pandirimukund 12:1fc4b3d94397 55 switch (bnum) {
pandirimukund 12:1fc4b3d94397 56 case '1': //number button 1
pandirimukund 12:1fc4b3d94397 57 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 58 rd += 1;
pandirimukund 12:1fc4b3d94397 59 } else {
pandirimukund 12:1fc4b3d94397 60 //add release code here
pandirimukund 12:1fc4b3d94397 61 }
pandirimukund 12:1fc4b3d94397 62 break;
pandirimukund 12:1fc4b3d94397 63 case '2': //number button 2
pandirimukund 12:1fc4b3d94397 64 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 65 ri += 1;
pandirimukund 12:1fc4b3d94397 66 } else {
pandirimukund 12:1fc4b3d94397 67 //add release code here
pandirimukund 12:1fc4b3d94397 68 }
pandirimukund 12:1fc4b3d94397 69 break;
pandirimukund 12:1fc4b3d94397 70 case '3': //number button 3
pandirimukund 12:1fc4b3d94397 71 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 72 rd -= 1;
pandirimukund 12:1fc4b3d94397 73 } else {
pandirimukund 12:1fc4b3d94397 74 //add release code here
pandirimukund 12:1fc4b3d94397 75 }
pandirimukund 12:1fc4b3d94397 76 break;
pandirimukund 12:1fc4b3d94397 77 case '4': //number button 4
pandirimukund 12:1fc4b3d94397 78 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 79 ri -= 1;
pandirimukund 12:1fc4b3d94397 80 } else {
pandirimukund 12:1fc4b3d94397 81 //add release code here
pandirimukund 12:1fc4b3d94397 82 }
pandirimukund 12:1fc4b3d94397 83 break;
pandirimukund 12:1fc4b3d94397 84 case '5': //button 5 up arrow
pandirimukund 12:1fc4b3d94397 85 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 86 rp += 1;
pandirimukund 12:1fc4b3d94397 87 } else {
pandirimukund 12:1fc4b3d94397 88 //add release code here
pandirimukund 12:1fc4b3d94397 89 }
pandirimukund 12:1fc4b3d94397 90 break;
pandirimukund 12:1fc4b3d94397 91 case '6': //button 6 down arrow
pandirimukund 12:1fc4b3d94397 92 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 93 rp -= 1;
pandirimukund 12:1fc4b3d94397 94 } else {
pandirimukund 12:1fc4b3d94397 95 //add release code here
pandirimukund 12:1fc4b3d94397 96 }
pandirimukund 12:1fc4b3d94397 97 break;
pandirimukund 12:1fc4b3d94397 98 case '7': //button 7 left arrow
pandirimukund 12:1fc4b3d94397 99 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 100 desired_angle -= 1;
pandirimukund 12:1fc4b3d94397 101 } else {
pandirimukund 12:1fc4b3d94397 102 //add release code here
pandirimukund 12:1fc4b3d94397 103 }
pandirimukund 12:1fc4b3d94397 104 break;
pandirimukund 12:1fc4b3d94397 105 case '8': //button 8 right arrow
pandirimukund 12:1fc4b3d94397 106 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 107 desired_angle += 1;
pandirimukund 12:1fc4b3d94397 108 } else {
pandirimukund 12:1fc4b3d94397 109 //add release code here
pandirimukund 12:1fc4b3d94397 110 }
pandirimukund 12:1fc4b3d94397 111 break;
pandirimukund 12:1fc4b3d94397 112 default:
pandirimukund 12:1fc4b3d94397 113 break;
pandirimukund 12:1fc4b3d94397 114 }
pandirimukund 12:1fc4b3d94397 115 }
pandirimukund 12:1fc4b3d94397 116 parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 117 }
pandirimukund 12:1fc4b3d94397 118 }
pandirimukund 12:1fc4b3d94397 119 Thread::wait(100);
emilmont 1:491820ee784d 120 }
emilmont 1:491820ee784d 121 }
pandirimukund 12:1fc4b3d94397 122
pandirimukund 12:1fc4b3d94397 123
pandirimukund 12:1fc4b3d94397 124 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 125 ///////////////////////////// Control System Updates///////////////////////////
pandirimukund 12:1fc4b3d94397 126 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 127 //make the calls to IMU here and this should be another thread
pandirimukund 12:1fc4b3d94397 128 void update_system() {
lrucker7 16:f9e3df933304 129 while(1){
lrucker7 16:f9e3df933304 130 get_current_angle();
lrucker7 16:f9e3df933304 131 //pc.printf("this is running 100");
lrucker7 16:f9e3df933304 132 Thread::wait(10);
lrucker7 16:f9e3df933304 133 }
pandirimukund 12:1fc4b3d94397 134 }
pandirimukund 12:1fc4b3d94397 135
pandirimukund 12:1fc4b3d94397 136
pandirimukund 12:1fc4b3d94397 137 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 138 ///////////////////////////// IMU STUFF////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 139 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 140 void calibrate_imu() {
pandirimukund 17:afde478daa01 141 for(int i = 0; i < 500; i++){
pandirimukund 17:afde478daa01 142 imu.readGyro();
pandirimukund 18:11883c581785 143 angleBiasGyro += imu.gy;
pandirimukund 18:11883c581785 144 angleBiasAcc += (-1)*atan2(imu.ax,imu.az)*180/3.142-90
pandirimukund 17:afde478daa01 145 }
pandirimukund 18:11883c581785 146 angleBiasGyro /= 500;
pandirimukund 18:11883c581785 147 angleBiasAcc /= 500;
pandirimukund 12:1fc4b3d94397 148 }
pandirimukund 12:1fc4b3d94397 149
pandirimukund 12:1fc4b3d94397 150 void get_current_angle() {
pandirimukund 13:8d8ac3189984 151 // return;
pandirimukund 13:8d8ac3189984 152 imu.readGyro();
pandirimukund 18:11883c581785 153 int gyro = -(imu.gy-angleBiasGyro) * .01;
pandirimukund 18:11883c581785 154 int acc = (-1)*atan2(imu.ax,imu.az)*180/3.142-90-angleBiasAcc;
lrucker7 16:f9e3df933304 155 //pc.printf("gyro:%f",gyro);
pandirimukund 15:f0f19572c4a5 156 angleMutex.lock();
pandirimukund 18:11883c581785 157 pAngle += .98*gyro + 0.02*acc;
pandirimukund 15:f0f19572c4a5 158 angleMutex.unlock();
pandirimukund 12:1fc4b3d94397 159 }
pandirimukund 12:1fc4b3d94397 160
pandirimukund 12:1fc4b3d94397 161
pandirimukund 12:1fc4b3d94397 162
pandirimukund 12:1fc4b3d94397 163
pandirimukund 12:1fc4b3d94397 164 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 165 ///////////////////////////// Running Main Function////////////////////////////
pandirimukund 12:1fc4b3d94397 166 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 167
emilmont 1:491820ee784d 168 int main() {
pandirimukund 12:1fc4b3d94397 169 pc.printf("this is running");
pandirimukund 17:afde478daa01 170 calibrate_imu();
pandirimukund 12:1fc4b3d94397 171 Thread bluetooth;
pandirimukund 12:1fc4b3d94397 172 Thread system_update;
emilmont 1:491820ee784d 173
pandirimukund 14:f9c2cf6643cf 174 imu.begin();
pandirimukund 12:1fc4b3d94397 175
pandirimukund 12:1fc4b3d94397 176 bluetooth.start(bluetooth_update);
pandirimukund 12:1fc4b3d94397 177 system_update.start(update_system);
pandirimukund 12:1fc4b3d94397 178
pandirimukund 12:1fc4b3d94397 179 //bluetooth.attach(&bluetooth_update, 0.1);
pandirimukund 12:1fc4b3d94397 180 while (1) {
lrucker7 16:f9e3df933304 181
pandirimukund 12:1fc4b3d94397 182 //bluetooth_update();
lrucker7 16:f9e3df933304 183 //parametersmutex.lock();
lrucker7 16:f9e3df933304 184 // pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f\n", rp, rd, ri, desired_angle);
lrucker7 16:f9e3df933304 185 // parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 186
pandirimukund 15:f0f19572c4a5 187 angleMutex.lock();
pandirimukund 15:f0f19572c4a5 188 pc.printf("pAngle: %f", pAngle);
pandirimukund 15:f0f19572c4a5 189 angleMutex.unlock();
pandirimukund 15:f0f19572c4a5 190
pandirimukund 15:f0f19572c4a5 191
lrucker7 16:f9e3df933304 192 //get_current_angle();
pandirimukund 14:f9c2cf6643cf 193
pandirimukund 12:1fc4b3d94397 194
pandirimukund 12:1fc4b3d94397 195 Thread::wait(100);
emilmont 1:491820ee784d 196 }
emilmont 1:491820ee784d 197 }
pandirimukund 12:1fc4b3d94397 198