Dave Lu
/
FYDP
IMU and knee angle. No servo yet
Fork of FYDP_Final2 by
main.cpp@0:21019d94ad33, 2015-03-21 (annotated)
- Committer:
- majik
- Date:
- Sat Mar 21 21:31:29 2015 +0000
- Revision:
- 0:21019d94ad33
- Child:
- 1:815f16490da8
Both IMUs work now
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
majik | 0:21019d94ad33 | 1 | /* This is the current working code for the FYDP Autowalk |
majik | 0:21019d94ad33 | 2 | -only IMU1 works. I don't know why IMU2 works. I'll fix that later |
majik | 0:21019d94ad33 | 3 | */ |
majik | 0:21019d94ad33 | 4 | |
majik | 0:21019d94ad33 | 5 | #include "robot.h" |
majik | 0:21019d94ad33 | 6 | #include "bt_shell.h" |
majik | 0:21019d94ad33 | 7 | |
majik | 0:21019d94ad33 | 8 | RtosTimer *MotorStopTimer; |
majik | 0:21019d94ad33 | 9 | RtosTimer *HalfHourTimer; |
majik | 0:21019d94ad33 | 10 | |
majik | 0:21019d94ad33 | 11 | void HalfHourUpdate(void const *args) |
majik | 0:21019d94ad33 | 12 | { |
majik | 0:21019d94ad33 | 13 | long_time += t.read_us(); |
majik | 0:21019d94ad33 | 14 | t.reset(); |
majik | 0:21019d94ad33 | 15 | } |
majik | 0:21019d94ad33 | 16 | |
majik | 0:21019d94ad33 | 17 | /* |
majik | 0:21019d94ad33 | 18 | RtosTimer *OpticalFlowTimer; |
majik | 0:21019d94ad33 | 19 | |
majik | 0:21019d94ad33 | 20 | void update_opt(void const *args) |
majik | 0:21019d94ad33 | 21 | { |
majik | 0:21019d94ad33 | 22 | reckon.updateOpticalFlow(); |
majik | 0:21019d94ad33 | 23 | } |
majik | 0:21019d94ad33 | 24 | |
majik | 0:21019d94ad33 | 25 | void RF_mesh_thread(void const *args) //this thread handles the mesh network |
majik | 0:21019d94ad33 | 26 | { |
majik | 0:21019d94ad33 | 27 | while(1){ |
majik | 0:21019d94ad33 | 28 | Thread::wait(10); |
majik | 0:21019d94ad33 | 29 | } |
majik | 0:21019d94ad33 | 30 | } |
majik | 0:21019d94ad33 | 31 | |
majik | 0:21019d94ad33 | 32 | */ |
majik | 0:21019d94ad33 | 33 | |
majik | 0:21019d94ad33 | 34 | void moveMotors(int Lspeed, int Rspeed, int ms) |
majik | 0:21019d94ad33 | 35 | { |
majik | 0:21019d94ad33 | 36 | *motors.Left = Lspeed; |
majik | 0:21019d94ad33 | 37 | *motors.Right = Rspeed; |
majik | 0:21019d94ad33 | 38 | |
majik | 0:21019d94ad33 | 39 | if(ms > 0) |
majik | 0:21019d94ad33 | 40 | MotorStopTimer->start(ms); |
majik | 0:21019d94ad33 | 41 | } |
majik | 0:21019d94ad33 | 42 | |
majik | 0:21019d94ad33 | 43 | void stopMotors(void const *args) |
majik | 0:21019d94ad33 | 44 | { |
majik | 0:21019d94ad33 | 45 | *motors.Left = 0; |
majik | 0:21019d94ad33 | 46 | *motors.Right = 0; |
majik | 0:21019d94ad33 | 47 | send_flag = 0; |
majik | 0:21019d94ad33 | 48 | } |
majik | 0:21019d94ad33 | 49 | |
majik | 0:21019d94ad33 | 50 | void CURRENT_thread(void const *args) |
majik | 0:21019d94ad33 | 51 | { |
majik | 0:21019d94ad33 | 52 | float current; |
majik | 0:21019d94ad33 | 53 | while(1){ |
majik | 0:21019d94ad33 | 54 | current = current_sensor.get_current(); |
majik | 0:21019d94ad33 | 55 | bt.lock(); |
majik | 0:21019d94ad33 | 56 | bt.printf("\n\rCurrent: %f mA",current); |
majik | 0:21019d94ad33 | 57 | bt.unlock(); |
majik | 0:21019d94ad33 | 58 | Thread::wait(50); |
majik | 0:21019d94ad33 | 59 | } |
majik | 0:21019d94ad33 | 60 | } |
majik | 0:21019d94ad33 | 61 | |
majik | 0:21019d94ad33 | 62 | void optflow_thread(void const *args) |
majik | 0:21019d94ad33 | 63 | { |
majik | 0:21019d94ad33 | 64 | while(true) { |
majik | 0:21019d94ad33 | 65 | reckon.updateOpticalFlow(); |
majik | 0:21019d94ad33 | 66 | Thread::wait(3); |
majik | 0:21019d94ad33 | 67 | } |
majik | 0:21019d94ad33 | 68 | } |
majik | 0:21019d94ad33 | 69 | |
majik | 0:21019d94ad33 | 70 | void IMU_thread(void const *args) |
majik | 0:21019d94ad33 | 71 | { |
majik | 0:21019d94ad33 | 72 | bt.baud(BT_BAUD_RATE); //you have to do this for some reason |
majik | 0:21019d94ad33 | 73 | test_dmp(); |
majik | 0:21019d94ad33 | 74 | test_dmp2(); |
majik | 0:21019d94ad33 | 75 | bt.baud(BT_BAUD_RATE); //you have to do this for some reason |
majik | 0:21019d94ad33 | 76 | start_dmp(mpu); |
majik | 0:21019d94ad33 | 77 | start_dmp2(mpu2); |
majik | 0:21019d94ad33 | 78 | //calibrate_1(); |
majik | 0:21019d94ad33 | 79 | |
majik | 0:21019d94ad33 | 80 | while(1) { |
majik | 0:21019d94ad33 | 81 | /*if(calibrate_flag) |
majik | 0:21019d94ad33 | 82 | { |
majik | 0:21019d94ad33 | 83 | calibrate_1(); |
majik | 0:21019d94ad33 | 84 | calibrate_flag = 0; |
majik | 0:21019d94ad33 | 85 | }*/ |
majik | 0:21019d94ad33 | 86 | |
majik | 0:21019d94ad33 | 87 | //if(!mpuInterrupt && fifoCount < packetSize); //interrupt not ready |
majik | 0:21019d94ad33 | 88 | //else { //mpu interrupt is ready |
majik | 0:21019d94ad33 | 89 | update_dmp(); |
majik | 0:21019d94ad33 | 90 | update_dmp2(); |
majik | 0:21019d94ad33 | 91 | //mpuInterrupt = false; //this resets the interrupt flag |
majik | 0:21019d94ad33 | 92 | //mpuInterrupt2 = false; |
majik | 0:21019d94ad33 | 93 | //} |
majik | 0:21019d94ad33 | 94 | |
majik | 0:21019d94ad33 | 95 | Thread::yield(); |
majik | 0:21019d94ad33 | 96 | } |
majik | 0:21019d94ad33 | 97 | } |
majik | 0:21019d94ad33 | 98 | |
majik | 0:21019d94ad33 | 99 | void bt_shell(void const *args) |
majik | 0:21019d94ad33 | 100 | { |
majik | 0:21019d94ad33 | 101 | bt_shell_init(); |
majik | 0:21019d94ad33 | 102 | bt.printf("BT shell initialized\r\n"); |
majik | 0:21019d94ad33 | 103 | |
majik | 0:21019d94ad33 | 104 | while(true) { |
majik | 0:21019d94ad33 | 105 | bt_shell_run(); |
majik | 0:21019d94ad33 | 106 | Thread::yield(); |
majik | 0:21019d94ad33 | 107 | } |
majik | 0:21019d94ad33 | 108 | } |
majik | 0:21019d94ad33 | 109 | |
majik | 0:21019d94ad33 | 110 | int main() |
majik | 0:21019d94ad33 | 111 | { |
majik | 0:21019d94ad33 | 112 | initRobot(); |
majik | 0:21019d94ad33 | 113 | |
majik | 0:21019d94ad33 | 114 | MotorStopTimer = new RtosTimer(&stopMotors, osTimerOnce, NULL); |
majik | 0:21019d94ad33 | 115 | HalfHourTimer = new RtosTimer(&HalfHourUpdate, osTimerPeriodic, NULL); |
majik | 0:21019d94ad33 | 116 | |
majik | 0:21019d94ad33 | 117 | HalfHourTimer->start(1800000); //doesn't work because the timer takes over (high priority) |
majik | 0:21019d94ad33 | 118 | |
majik | 0:21019d94ad33 | 119 | //OpticalFlowTimer = new RtosTimer(&update_opt, osTimerPeriodic, NULL); |
majik | 0:21019d94ad33 | 120 | //OpticalFlowTimer->start(10); //doesn't work because the timer takes over (high priority) |
majik | 0:21019d94ad33 | 121 | |
majik | 0:21019d94ad33 | 122 | |
majik | 0:21019d94ad33 | 123 | Thread bt_shell_th(bt_shell, NULL, osPriorityNormal, 2048, NULL); //if you get a hard fault, increase memory size of this thread (second last value) |
majik | 0:21019d94ad33 | 124 | |
majik | 0:21019d94ad33 | 125 | Thread IMU_th(IMU_thread,NULL,osPriorityNormal, 2048,NULL); |
majik | 0:21019d94ad33 | 126 | |
majik | 0:21019d94ad33 | 127 | // Thread current_sense(CURRENT_thread,NULL,osPriorityNormal,300,NULL); //this thread for monitoring current is unnecessary. Thread use lotsa rams. Kill it. |
majik | 0:21019d94ad33 | 128 | |
majik | 0:21019d94ad33 | 129 | //Thread optflow_th(optflow_thread, NULL, osPriorityNormal, 500, NULL); |
majik | 0:21019d94ad33 | 130 | |
majik | 0:21019d94ad33 | 131 | //Thread RF_mesh_th(RF_mesh_thread,NULL,osPriorityNormal,500,NULL); |
majik | 0:21019d94ad33 | 132 | |
majik | 0:21019d94ad33 | 133 | Thread::wait(osWaitForever); |
majik | 0:21019d94ad33 | 134 | } |