cube.h

00001 /*
00002  * cube.h
00003  * April 11, 2017
00004  * 
00005  * Control software for balancing cube senior design project
00006  *
00007  * Will Church
00008  * Tom Rasmussen
00009  */
00010  
00011 #ifndef CUBE_H
00012 #define CUBE_H
00013 
00014 /* -- INCLUDES -- */
00015 #include "mbed.h"
00016 #include "BNO055.h"
00017 
00018 /* -- STRUCT -- */
00019 struct config {
00020     double      Kbt;        // Body angle gain
00021     double      Kbv;        // Body velocity gain
00022     double      Kwv;        // Wheel velocity gain
00023     double      eqAngle;    // Equilibrium angle
00024     double      *angle;     // Points to angle in IMU Euler_angle struct
00025     double      *vel;       // Points to vel in IMU VEL struct
00026     PwmOut      *pwm;       // PWM out for motor control
00027     AnalogIn    *hall;      // Analog in for wheel velocity
00028     char        *descr;      // Description of config
00029 };
00030 
00031 /* -- GLOBALS -- */
00032 Ticker pwmint;                              // Button interrupt
00033 BNO055_EULER_TypeDef    euler_angles;
00034 BNO055_VEL_TypeDef      velocity;
00035 config *currentConfig;                      // Stores current config
00036 bool isActive;                              // Control loop bool
00037 
00038 /* -- CONSTANTS -- */
00039 const double pi = 3.14159265;
00040 const float TM = .25;  //threshold for main axis
00041 const float TA = .2;   //threshold for aux axis
00042 
00043 /* -- CONFIGS -- */
00044 /* Define our parameters here for each balancing configuration */
00045 struct config balX = {-89.9276,            //Kbt
00046                        -14.9398,            //Kbv
00047                        -0.001,              //Kwv
00048                        pi/4.0,              //eqAngle
00049                        &(euler_angles.r),   //angle
00050                        &(velocity.x),       //vel
00051                        new PwmOut(PE_9),    //pwm
00052                        new AnalogIn(A0),    //hall
00053                        "Balancing on X edge"};   //descr
00054                        
00055 struct config balY = {0,            //Kbt
00056                        0,            //Kbv
00057                        0,              //Kwv
00058                        -pi/4.0,              //eqAngle
00059                        &(euler_angles.p),   //angle
00060                        &(velocity.y),       //vel
00061                        new PwmOut(PE_9),    //pwm
00062                        new AnalogIn(A0),    //hall
00063                        "Balancing on Y edge"};   //descr
00064 
00065 struct config balZ = {-72.4921,            //Kbt
00066                        -9.9672,            //Kbv
00067                        -0.00025,              //Kwv
00068                        -.7000,              //eqAngle
00069                        &(euler_angles.p),   //angle
00070                        &(velocity.z),       //vel
00071                        new PwmOut(PE_9),    //pwm
00072                        new AnalogIn(A0),    //hall
00073                        "Balancing on Z edge"};   //descr
00074 
00075 struct config fall = {0,            //Kbt
00076                        0,            //Kbv
00077                        0,              //Kwv
00078                        0,              //eqAngle
00079                        &(euler_angles.p),   //angle
00080                        &(velocity.z),       //vel
00081                        NULL,    //pwm
00082                        NULL,    //hall
00083                        "Fallen"};   //descr
00084 
00085 // Other constants
00086 
00087 
00088 /* -- NOTES -- */
00089 //------------------------------------
00090 // Hyperterminal configuration
00091 // 9600 bauds, 8-bit data, no parity
00092 //------------------------------------
00093 
00094 /* -- PROTOTYPES -- */
00095 
00096 /*
00097  * Checks and prints calibration until sys calib is at 3 / 3
00098  */
00099 //void checkCalib(BNO055 *imu, Serial *pc);
00100 
00101 /*
00102  * TODO: Documentation here
00103  * Note: should this function be inline?
00104  */
00105 double calcPWM(config *c);
00106 void updatePWM(config *c);
00107 #endif