Tom Rasmussen / Mbed 2 deprecated NucleoCube1

Dependencies:   BNO055_fusion_tom FastPWM mbed

Fork of NucleoCube1 by Will Church

main.cpp@19:3118e8e60182, 2017-04-11 (annotated)

Committer:
wchurch
Date:
Tue Apr 11 02:23:17 2017 +0000
Revision:
19:3118e8e60182
Parent:
18:6f120b374991
Child:
20:79c99bbf6dd7
working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wchurch 0:604ceafb7bb3 1 #include "mbed.h"
wchurch 0:604ceafb7bb3 2 #include "BNO055.h"
wchurch 0:604ceafb7bb3 3
wchurch 0:604ceafb7bb3 4
wchurch 0:604ceafb7bb3 5 //------------------------------------
wchurch 0:604ceafb7bb3 6 // Hyperterminal configuration
wchurch 0:604ceafb7bb3 7 // 9600 bauds, 8-bit data, no parity
wchurch 0:604ceafb7bb3 8 //------------------------------------
wchurch 0:604ceafb7bb3 9
wchurch 0:604ceafb7bb3 10 Serial pc(SERIAL_TX, SERIAL_RX);
wchurch 0:604ceafb7bb3 11
wchurch 18:6f120b374991 12 Ticker pwmint;
wchurch 0:604ceafb7bb3 13 DigitalOut myled(LED1);
wchurch 6:f2c930a90873 14 InterruptIn button(USER_BUTTON);
wchurch 6:f2c930a90873 15
wchurch 1:d81f93d3f819 16 PwmOut P1(PE_9);
wchurch 9:6a83e2777d24 17 DigitalOut EN1(D0);
wchurch 13:e41d32a48931 18 AnalogIn I1(A0);
wchurch 9:6a83e2777d24 19
wchurch 7:1be7e6735fe2 20 //PwmOut P2(PE_11); 1D FOCUS FOR NOW
wchurch 7:1be7e6735fe2 21 //PwmOut P3(PE_13);
wchurch 0:604ceafb7bb3 22
wchurch 18:6f120b374991 23 I2C i2c(PB_9, PB_8); // SDA, SCL
wchurch 18:6f120b374991 24 BNO055 imu(i2c, PA_8); // Reset
wchurch 18:6f120b374991 25
wchurch 18:6f120b374991 26 BNO055_ID_INF_TypeDef bno055_id_inf;
wchurch 18:6f120b374991 27 BNO055_EULER_TypeDef euler_angles;
wchurch 18:6f120b374991 28 BNO055_VEL_TypeDef velocity; //IN PROGRESS
wchurch 6:f2c930a90873 29
wchurch 16:27069802baae 30 double Kbt = -89.9276;
wchurch 16:27069802baae 31 double Kbv = -14.9398;
wchurch 18:6f120b374991 32 double Kwv = 0.0;//-0.0909;
wchurch 14:90ac96893fcd 33
wchurch 16:27069802baae 34 double wv;
wchurch 18:6f120b374991 35 double bt;
wchurch 8:1011786787a4 36 double r1;
wchurch 8:1011786787a4 37
wchurch 18:6f120b374991 38 double pi = 3.14159265;
wchurch 18:6f120b374991 39
wchurch 6:f2c930a90873 40 int isPressed;
wchurch 6:f2c930a90873 41
wchurch 18:6f120b374991 42 void pwmupdate()
wchurch 18:6f120b374991 43 {
wchurch 18:6f120b374991 44
wchurch 19:3118e8e60182 45 //myled = !myled;
wchurch 16:27069802baae 46 wv = I1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
wchurch 16:27069802baae 47 wv = (wv-2.0)*5000.0; // Scale the velocity to rad/s
wchurch 18:6f120b374991 48
wchurch 18:6f120b374991 49 bt = (euler_angles.p - (pi/4.0));
wchurch 18:6f120b374991 50
wchurch 18:6f120b374991 51 r1 = (Kbt*bt + Kbv*velocity.z + Kwv*wv);
wchurch 18:6f120b374991 52
wchurch 19:3118e8e60182 53
wchurch 18:6f120b374991 54
wchurch 10:69eb22acaea3 55 //Limit PWM range
wchurch 19:3118e8e60182 56 if (r1 > 6.0) {
wchurch 19:3118e8e60182 57 r1 = 6.0;
wchurch 18:6f120b374991 58 }
wchurch 19:3118e8e60182 59
wchurch 19:3118e8e60182 60 if (r1 < -6.0) {
wchurch 19:3118e8e60182 61 r1 = -6.0;
wchurch 19:3118e8e60182 62 }
wchurch 19:3118e8e60182 63
wchurch 19:3118e8e60182 64 r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output
wchurch 19:3118e8e60182 65
wchurch 18:6f120b374991 66 P1 = r1;
wchurch 7:1be7e6735fe2 67 //P2 = (euler_angles.r/360.0);
wchurch 7:1be7e6735fe2 68 //P3 = (euler_angles.p/360.0);
wchurch 18:6f120b374991 69
wchurch 18:6f120b374991 70 }
wchurch 18:6f120b374991 71
wchurch 18:6f120b374991 72 void eventFunction()
wchurch 18:6f120b374991 73 {
wchurch 18:6f120b374991 74
wchurch 6:f2c930a90873 75 if(!isPressed) {
wchurch 18:6f120b374991 76 pwmint.attach(&pwmupdate, .005);
wchurch 18:6f120b374991 77 EN1 = 1;
wchurch 19:3118e8e60182 78 myled = 1;
wchurch 6:f2c930a90873 79 isPressed=1;
wchurch 18:6f120b374991 80
wchurch 6:f2c930a90873 81 } else {
wchurch 6:f2c930a90873 82 pwmint.detach();
wchurch 15:1d21cf90cd47 83 P1 = 0.0;
wchurch 19:3118e8e60182 84 bt = 0.0;
wchurch 8:1011786787a4 85 myled = 0;
wchurch 9:6a83e2777d24 86 EN1 = 0;
wchurch 7:1be7e6735fe2 87 //P2 = 0;
wchurch 7:1be7e6735fe2 88 //P3 = 0;
wchurch 18:6f120b374991 89 isPressed=0;
wchurch 6:f2c930a90873 90 }
wchurch 6:f2c930a90873 91 }
wchurch 6:f2c930a90873 92
wchurch 6:f2c930a90873 93 int main()
wchurch 6:f2c930a90873 94 {
wchurch 18:6f120b374991 95
wchurch 0:604ceafb7bb3 96 pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
wchurch 18:6f120b374991 97 if (imu.chip_ready() == 0) {
wchurch 4:ae9e664301dd 98 pc.printf("Bosch BNO055 is NOT available!!\r\n");
wchurch 0:604ceafb7bb3 99 }
wchurch 18:6f120b374991 100
wchurch 0:604ceafb7bb3 101 imu.read_id_inf(&bno055_id_inf);
wchurch 18:6f120b374991 102
wchurch 7:1be7e6735fe2 103 //pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
wchurch 7:1be7e6735fe2 104 // bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
wchurch 7:1be7e6735fe2 105 // bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
wchurch 18:6f120b374991 106
wchurch 9:6a83e2777d24 107 P1.period(0.0002); //Set PWM frequency
wchurch 18:6f120b374991 108
wchurch 6:f2c930a90873 109 isPressed=0;
wchurch 9:6a83e2777d24 110 button.rise(&eventFunction); //Enable Closed Loop
wchurch 18:6f120b374991 111
wchurch 18:6f120b374991 112
wchurch 18:6f120b374991 113
wchurch 0:604ceafb7bb3 114 while(1) {
wchurch 6:f2c930a90873 115
wchurch 18:6f120b374991 116
wchurch 18:6f120b374991 117 // pc.printf("H:%+6.4f [rad], P:%+6.4f, R:%+6.4f, R1%+6.4f [PWM], Theta_dot:%+6.4f [rad/s] , WV:%+6.4f [rad/s] \r\n",
wchurch 18:6f120b374991 118 // euler_angles.h, euler_angles.p, euler_angles.r, r1, velocity.z, wv);
wchurch 18:6f120b374991 119
wchurch 18:6f120b374991 120 pc.printf("Theta:%+6.4f [rad], P:%+6.4f [rad], R1%+6.4f [PWM], Theta_dot:%+6.4f [rad/s], WV:%+6.4f [rad/s] \r\n",
wchurch 18:6f120b374991 121 bt, euler_angles.p, r1, velocity.z, wv);
wchurch 18:6f120b374991 122
wchurch 6:f2c930a90873 123 imu.get_Euler_Angles(&euler_angles);
wchurch 15:1d21cf90cd47 124 imu.get_velocities(&velocity);
wchurch 18:6f120b374991 125
wchurch 8:1011786787a4 126 //wait(0.2);
wchurch 0:604ceafb7bb3 127 }
wchurch 0:604ceafb7bb3 128 }