Mukund Pandiri / Mbed 2 deprecated segway-balancing

self-balancing-robot

Dependencies:   mbed mbed-rtos Motor

main.cpp@22:bb9b9d3b45d8, 2020-04-23 (annotated)

Committer:
pandirimukund
Date:
Thu Apr 23 16:06:03 2020 +0000
Revision:
22:bb9b9d3b45d8
Parent:
21:949558e7a48c
Child:
24:105abc3a7c72
trying calibration with imu library

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 19:9ea181b003af 39 float angleBiasAcc = 0;
pandirimukund 17:afde478daa01 40
pandirimukund 12:1fc4b3d94397 41
pandirimukund 12:1fc4b3d94397 42 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 43 ///////////////////////////// Bluetooth Section ///////////////////////////////
pandirimukund 12:1fc4b3d94397 44 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 45 void bluetooth_update() {
pandirimukund 12:1fc4b3d94397 46 char bnum = 0;
pandirimukund 12:1fc4b3d94397 47 char bhit = 0;
pandirimukund 12:1fc4b3d94397 48 while (1) {
pandirimukund 12:1fc4b3d94397 49 if (blue.getc() == '!') {
pandirimukund 12:1fc4b3d94397 50 if (blue.getc() == 'B') { //button data packet
pandirimukund 12:1fc4b3d94397 51 bnum = blue.getc(); //button number
pandirimukund 12:1fc4b3d94397 52 //pc.printf("%d",bnum);
pandirimukund 12:1fc4b3d94397 53 bhit = blue.getc(); //1=hit, 0=release
pandirimukund 12:1fc4b3d94397 54 parametersmutex.lock();
pandirimukund 12:1fc4b3d94397 55 if (blue.getc() == char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
pandirimukund 12:1fc4b3d94397 56 switch (bnum) {
pandirimukund 12:1fc4b3d94397 57 case '1': //number button 1
pandirimukund 12:1fc4b3d94397 58 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 59 rd += 1;
pandirimukund 12:1fc4b3d94397 60 } else {
pandirimukund 12:1fc4b3d94397 61 //add release code here
pandirimukund 12:1fc4b3d94397 62 }
pandirimukund 12:1fc4b3d94397 63 break;
pandirimukund 12:1fc4b3d94397 64 case '2': //number button 2
pandirimukund 12:1fc4b3d94397 65 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 66 ri += 1;
pandirimukund 12:1fc4b3d94397 67 } else {
pandirimukund 12:1fc4b3d94397 68 //add release code here
pandirimukund 12:1fc4b3d94397 69 }
pandirimukund 12:1fc4b3d94397 70 break;
pandirimukund 12:1fc4b3d94397 71 case '3': //number button 3
pandirimukund 12:1fc4b3d94397 72 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 73 rd -= 1;
pandirimukund 12:1fc4b3d94397 74 } else {
pandirimukund 12:1fc4b3d94397 75 //add release code here
pandirimukund 12:1fc4b3d94397 76 }
pandirimukund 12:1fc4b3d94397 77 break;
pandirimukund 12:1fc4b3d94397 78 case '4': //number button 4
pandirimukund 12:1fc4b3d94397 79 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 80 ri -= 1;
pandirimukund 12:1fc4b3d94397 81 } else {
pandirimukund 12:1fc4b3d94397 82 //add release code here
pandirimukund 12:1fc4b3d94397 83 }
pandirimukund 12:1fc4b3d94397 84 break;
pandirimukund 12:1fc4b3d94397 85 case '5': //button 5 up arrow
pandirimukund 12:1fc4b3d94397 86 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 87 rp += 1;
pandirimukund 12:1fc4b3d94397 88 } else {
pandirimukund 12:1fc4b3d94397 89 //add release code here
pandirimukund 12:1fc4b3d94397 90 }
pandirimukund 12:1fc4b3d94397 91 break;
pandirimukund 12:1fc4b3d94397 92 case '6': //button 6 down arrow
pandirimukund 12:1fc4b3d94397 93 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 94 rp -= 1;
pandirimukund 12:1fc4b3d94397 95 } else {
pandirimukund 12:1fc4b3d94397 96 //add release code here
pandirimukund 12:1fc4b3d94397 97 }
pandirimukund 12:1fc4b3d94397 98 break;
pandirimukund 12:1fc4b3d94397 99 case '7': //button 7 left arrow
pandirimukund 12:1fc4b3d94397 100 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 101 desired_angle -= 1;
pandirimukund 12:1fc4b3d94397 102 } else {
pandirimukund 12:1fc4b3d94397 103 //add release code here
pandirimukund 12:1fc4b3d94397 104 }
pandirimukund 12:1fc4b3d94397 105 break;
pandirimukund 12:1fc4b3d94397 106 case '8': //button 8 right arrow
pandirimukund 12:1fc4b3d94397 107 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 108 desired_angle += 1;
pandirimukund 12:1fc4b3d94397 109 } else {
pandirimukund 12:1fc4b3d94397 110 //add release code here
pandirimukund 12:1fc4b3d94397 111 }
pandirimukund 12:1fc4b3d94397 112 break;
pandirimukund 12:1fc4b3d94397 113 default:
pandirimukund 12:1fc4b3d94397 114 break;
pandirimukund 12:1fc4b3d94397 115 }
pandirimukund 12:1fc4b3d94397 116 }
pandirimukund 12:1fc4b3d94397 117 parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 118 }
pandirimukund 12:1fc4b3d94397 119 }
pandirimukund 12:1fc4b3d94397 120 Thread::wait(100);
emilmont 1:491820ee784d 121 }
emilmont 1:491820ee784d 122 }
pandirimukund 12:1fc4b3d94397 123
pandirimukund 12:1fc4b3d94397 124
pandirimukund 12:1fc4b3d94397 125 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 126 ///////////////////////////// Control System Updates///////////////////////////
pandirimukund 12:1fc4b3d94397 127 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 128 //make the calls to IMU here and this should be another thread
pandirimukund 12:1fc4b3d94397 129 void update_system() {
lrucker7 16:f9e3df933304 130 while(1){
lrucker7 16:f9e3df933304 131 get_current_angle();
lrucker7 16:f9e3df933304 132 //pc.printf("this is running 100");
lrucker7 16:f9e3df933304 133 Thread::wait(10);
lrucker7 16:f9e3df933304 134 }
pandirimukund 12:1fc4b3d94397 135 }
pandirimukund 12:1fc4b3d94397 136
pandirimukund 12:1fc4b3d94397 137
pandirimukund 12:1fc4b3d94397 138 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 139 ///////////////////////////// IMU STUFF////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 140 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 141 void calibrate_imu() {
pandirimukund 17:afde478daa01 142 for(int i = 0; i < 500; i++){
pandirimukund 17:afde478daa01 143 imu.readGyro();
pandirimukund 19:9ea181b003af 144 angleBiasGyro += imu.calcGyro(imu.gy);
lrucker7 20:6b5f83412413 145 //angleBiasAcc += (-1)*atan2(imu.ax,imu.az)*180/3.142-90
pandirimukund 17:afde478daa01 146 }
pandirimukund 18:11883c581785 147 angleBiasGyro /= 500;
pandirimukund 18:11883c581785 148 angleBiasAcc /= 500;
pandirimukund 12:1fc4b3d94397 149 }
pandirimukund 12:1fc4b3d94397 150
pandirimukund 12:1fc4b3d94397 151 void get_current_angle() {
pandirimukund 13:8d8ac3189984 152 // return;
pandirimukund 13:8d8ac3189984 153 imu.readGyro();
pandirimukund 22:bb9b9d3b45d8 154 int gyro = -(imu.calcGyro(imu.gy)) * .01;
lrucker7 20:6b5f83412413 155 //int acc = (-1)*atan2(imu.ax,imu.az)*180/3.142-90-angleBiasAcc;
lrucker7 16:f9e3df933304 156 //pc.printf("gyro:%f",gyro);
pandirimukund 15:f0f19572c4a5 157 angleMutex.lock();
pandirimukund 19:9ea181b003af 158 pAngle += 1*gyro //+ 0.02*acc;
pandirimukund 15:f0f19572c4a5 159 angleMutex.unlock();
pandirimukund 12:1fc4b3d94397 160 }
pandirimukund 12:1fc4b3d94397 161
pandirimukund 12:1fc4b3d94397 162
pandirimukund 12:1fc4b3d94397 163
pandirimukund 12:1fc4b3d94397 164
pandirimukund 12:1fc4b3d94397 165 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 166 ///////////////////////////// Running Main Function////////////////////////////
pandirimukund 12:1fc4b3d94397 167 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 168
emilmont 1:491820ee784d 169 int main() {
pandirimukund 12:1fc4b3d94397 170 pc.printf("this is running");
lrucker7 21:949558e7a48c 171
pandirimukund 12:1fc4b3d94397 172 Thread bluetooth;
pandirimukund 12:1fc4b3d94397 173 Thread system_update;
emilmont 1:491820ee784d 174
pandirimukund 14:f9c2cf6643cf 175 imu.begin();
pandirimukund 22:bb9b9d3b45d8 176 imu.calibrate(1);
pandirimukund 22:bb9b9d3b45d8 177
pandirimukund 12:1fc4b3d94397 178 bluetooth.start(bluetooth_update);
pandirimukund 12:1fc4b3d94397 179 system_update.start(update_system);
pandirimukund 12:1fc4b3d94397 180
pandirimukund 12:1fc4b3d94397 181 //bluetooth.attach(&bluetooth_update, 0.1);
pandirimukund 12:1fc4b3d94397 182 while (1) {
lrucker7 16:f9e3df933304 183
pandirimukund 12:1fc4b3d94397 184 //bluetooth_update();
lrucker7 16:f9e3df933304 185 //parametersmutex.lock();
lrucker7 16:f9e3df933304 186 // pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f\n", rp, rd, ri, desired_angle);
lrucker7 16:f9e3df933304 187 // parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 188
pandirimukund 15:f0f19572c4a5 189 angleMutex.lock();
pandirimukund 15:f0f19572c4a5 190 pc.printf("pAngle: %f", pAngle);
pandirimukund 15:f0f19572c4a5 191 angleMutex.unlock();
pandirimukund 15:f0f19572c4a5 192
pandirimukund 15:f0f19572c4a5 193
lrucker7 16:f9e3df933304 194 //get_current_angle();
pandirimukund 14:f9c2cf6643cf 195
pandirimukund 12:1fc4b3d94397 196
pandirimukund 12:1fc4b3d94397 197 Thread::wait(100);
emilmont 1:491820ee784d 198 }
emilmont 1:491820ee784d 199 }
pandirimukund 12:1fc4b3d94397 200