Tom Rasmussen
This is the one where I went back and un-did the cube.cpp file
Dependencies: BNO055_fusion_tom FastPWM mbed
Fork of
NucleoCube1
by 
Tom Rasmussen
Diff: cube.h
- Revision:
- 29:37dc63b57d6e
- Parent:
- 28:b813a8f685c3
--- a/cube.h Tue Apr 18 19:58:56 2017 +0000
+++ b/cube.h Tue Apr 18 21:13:06 2017 +0000
@@ -28,27 +28,62 @@
char *descr; // Description of config
};
+/* -- GLOBALS -- */
+Ticker pwmint; // Button interrupt
+BNO055_EULER_TypeDef euler_angles;
+BNO055_VEL_TypeDef velocity;
+config *currentConfig; // Stores current config
+bool isActive; // Control loop bool
+
/* -- CONSTANTS -- */
-// 1D gains, other wheels detached
-/*const double Kbt = -89.9276;
-const double Kbv = -14.9398;
-const double Kwv = -0.001; //-0.0909;
+const double pi = 3.14159265;
+const float TM = .25; //threshold for main axis
+const float TA = .2; //threshold for aux axis
-1d gains, others wheels attached
-const double Kbt_x = 0;
-const double Kbv_x = 0;
-const double Kwv_x = 0;
+/* -- CONFIGS -- */
+/* Define our parameters here for each balancing configuration */
+struct config balX = {-89.9276, //Kbt
+ -14.9398, //Kbv
+ -0.001, //Kwv
+ pi/4.0, //eqAngle
+ &(euler_angles.r), //angle
+ &(velocity.x), //vel
+ new PwmOut(PE_9), //pwm
+ new AnalogIn(A0), //hall
+ "Balancing on X edge"}; //descr
+
+struct config balY = {0, //Kbt
+ 0, //Kbv
+ 0, //Kwv
+ -pi/4.0, //eqAngle
+ &(euler_angles.p), //angle
+ &(velocity.y), //vel
+ new PwmOut(PE_9), //pwm
+ new AnalogIn(A0), //hall
+ "Balancing on Y edge"}; //descr
-const double Kbt_y = 0;
-const double Kbv_y = 0;
-const double Kwv_y = 0;
+struct config balZ = {-72.4921, //Kbt
+ -9.9672, //Kbv
+ -0.00025, //Kwv
+ -.7000, //eqAngle
+ &(euler_angles.p), //angle
+ &(velocity.z), //vel
+ new PwmOut(PE_9), //pwm
+ new AnalogIn(A0), //hall
+ "Balancing on Z edge"}; //descr
-const double Kbt_z = 0;
-const double Kbv_z = 0;
-const double Kwv_z = 0;*/
+struct config fall = {0, //Kbt
+ 0, //Kbv
+ 0, //Kwv
+ 0, //eqAngle
+ &(euler_angles.p), //angle
+ &(velocity.z), //vel
+ NULL, //pwm
+ NULL, //hall
+ "Fallen"}; //descr
// Other constants
-const double pi = 3.14159265;
+
/* -- NOTES -- */
//------------------------------------