cube
Dependencies: BNO055_fusion_tom FastPWM mbed
main.cpp@25:4902031d93e7, 2017-04-17 (annotated)
- Committer:
- wchurch
- Date:
- Mon Apr 17 05:20:48 2017 +0000
- Revision:
- 25:4902031d93e7
- Parent:
- 24:18dd8a8cd47c
- Child:
- 26:6ffb048f45ae
pole shift;
Who changed what in which revision?
User | Revision | Line number | New 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 | 23:ac8bbcfa1b24 | 28 | BNO055_VEL_TypeDef velocity; |
wchurch | 6:f2c930a90873 | 29 | |
wchurch | 25:4902031d93e7 | 30 | double Kbt = -67.9056;//-92.4921;//-89.9276; |
wchurch | 25:4902031d93e7 | 31 | double Kbv = -11.4004;//-13.8353;//-9.9672; //-14.9398; |
wchurch | 25:4902031d93e7 | 32 | double Kwv = -2.2481;//-0.0002; //-0.0909; |
wchurch | 16:27069802baae | 33 | double wv; |
wchurch | 18:6f120b374991 | 34 | double bt; |
wchurch | 23:ac8bbcfa1b24 | 35 | double bv; |
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 | 23:ac8bbcfa1b24 | 47 | wv = (wv-1.65)*(5000/1.65); // Scale the velocity to rad/s |
wchurch | 18:6f120b374991 | 48 | |
wchurch | 23:ac8bbcfa1b24 | 49 | bt = ((euler_angles.p) + (pi/4)); |
wchurch | 23:ac8bbcfa1b24 | 50 | bv = -1.0*velocity.z; |
wchurch | 23:ac8bbcfa1b24 | 51 | |
wchurch | 23:ac8bbcfa1b24 | 52 | r1 = -1.0*(Kbt*bt + Kbv*bv + Kwv*wv); |
wchurch | 18:6f120b374991 | 53 | |
wchurch | 19:3118e8e60182 | 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 | 20:79c99bbf6dd7 | 63 | |
wchurch | 20:79c99bbf6dd7 | 64 | r1 = ((.4*(r1/6.0)) + 0.5) ; //Normalize for PWM output |
wchurch | 19:3118e8e60182 | 65 | |
wchurch | 18:6f120b374991 | 66 | P1 = r1; |
wchurch | 23:ac8bbcfa1b24 | 67 | |
wchurch | 20:79c99bbf6dd7 | 68 | if (bt > (pi/8)){ |
wchurch | 20:79c99bbf6dd7 | 69 | EN1 = 0; |
wchurch | 20:79c99bbf6dd7 | 70 | pwmint.detach(); |
wchurch | 20:79c99bbf6dd7 | 71 | } |
wchurch | 20:79c99bbf6dd7 | 72 | |
wchurch | 20:79c99bbf6dd7 | 73 | else if (bt< -(pi/8)){ |
wchurch | 20:79c99bbf6dd7 | 74 | EN1 = 0; |
wchurch | 20:79c99bbf6dd7 | 75 | pwmint.detach(); |
wchurch | 20:79c99bbf6dd7 | 76 | } |
wchurch | 20:79c99bbf6dd7 | 77 | |
wchurch | 18:6f120b374991 | 78 | } |
wchurch | 18:6f120b374991 | 79 | |
wchurch | 18:6f120b374991 | 80 | void eventFunction() |
wchurch | 18:6f120b374991 | 81 | { |
wchurch | 18:6f120b374991 | 82 | |
wchurch | 6:f2c930a90873 | 83 | if(!isPressed) { |
wchurch | 18:6f120b374991 | 84 | pwmint.attach(&pwmupdate, .005); |
wchurch | 18:6f120b374991 | 85 | EN1 = 1; |
wchurch | 19:3118e8e60182 | 86 | myled = 1; |
wchurch | 6:f2c930a90873 | 87 | isPressed=1; |
wchurch | 18:6f120b374991 | 88 | |
wchurch | 22:9f3022fe9084 | 89 | } |
wchurch | 22:9f3022fe9084 | 90 | |
wchurch | 22:9f3022fe9084 | 91 | else { |
wchurch | 6:f2c930a90873 | 92 | pwmint.detach(); |
wchurch | 20:79c99bbf6dd7 | 93 | P1 = 0.5; |
wchurch | 19:3118e8e60182 | 94 | bt = 0.0; |
wchurch | 8:1011786787a4 | 95 | myled = 0; |
wchurch | 9:6a83e2777d24 | 96 | EN1 = 0; |
wchurch | 7:1be7e6735fe2 | 97 | //P2 = 0; |
wchurch | 7:1be7e6735fe2 | 98 | //P3 = 0; |
wchurch | 18:6f120b374991 | 99 | isPressed=0; |
wchurch | 6:f2c930a90873 | 100 | } |
wchurch | 6:f2c930a90873 | 101 | } |
wchurch | 6:f2c930a90873 | 102 | |
wchurch | 6:f2c930a90873 | 103 | int main() |
wchurch | 6:f2c930a90873 | 104 | { |
wchurch | 23:ac8bbcfa1b24 | 105 | wait_us(2000000); |
wchurch | 0:604ceafb7bb3 | 106 | pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n"); |
wchurch | 18:6f120b374991 | 107 | if (imu.chip_ready() == 0) { |
wchurch | 4:ae9e664301dd | 108 | pc.printf("Bosch BNO055 is NOT available!!\r\n"); |
wchurch | 0:604ceafb7bb3 | 109 | } |
wchurch | 18:6f120b374991 | 110 | |
wchurch | 0:604ceafb7bb3 | 111 | imu.read_id_inf(&bno055_id_inf); |
wchurch | 21:4f60d60b2e5a | 112 | P1 = .5; //Stops ESCON studio from throwing out-of-range error |
wchurch | 21:4f60d60b2e5a | 113 | |
wchurch | 7:1be7e6735fe2 | 114 | //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 | 115 | // bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id, |
wchurch | 7:1be7e6735fe2 | 116 | // bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id); |
wchurch | 18:6f120b374991 | 117 | |
wchurch | 9:6a83e2777d24 | 118 | P1.period(0.0002); //Set PWM frequency |
wchurch | 18:6f120b374991 | 119 | |
wchurch | 6:f2c930a90873 | 120 | isPressed=0; |
wchurch | 9:6a83e2777d24 | 121 | button.rise(&eventFunction); //Enable Closed Loop |
wchurch | 18:6f120b374991 | 122 | |
wchurch | 18:6f120b374991 | 123 | |
wchurch | 18:6f120b374991 | 124 | |
wchurch | 0:604ceafb7bb3 | 125 | while(1) { |
wchurch | 6:f2c930a90873 | 126 | |
wchurch | 18:6f120b374991 | 127 | |
wchurch | 23:ac8bbcfa1b24 | 128 | //pc.printf("H:%+6.4f [rad], P:%+6.4f, R:%+6.4f, THETA%+6.4f [PWM], Theta_dot:%+6.4f [rad/s] , WV:%+6.4f [rad/s] \r\n", |
wchurch | 23:ac8bbcfa1b24 | 129 | // euler_angles.h, euler_angles.p, euler_angles.r, bt, velocity.z, wv); |
wchurch | 18:6f120b374991 | 130 | |
wchurch | 21:4f60d60b2e5a | 131 | //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 | 23:ac8bbcfa1b24 | 132 | // bt, euler_angles.p, r1, bv, wv); |
wchurch | 18:6f120b374991 | 133 | |
wchurch | 6:f2c930a90873 | 134 | imu.get_Euler_Angles(&euler_angles); |
wchurch | 15:1d21cf90cd47 | 135 | imu.get_velocities(&velocity); |
wchurch | 23:ac8bbcfa1b24 | 136 | |
wchurch | 23:ac8bbcfa1b24 | 137 | bt = ((euler_angles.p) + (pi/4)); |
wchurch | 23:ac8bbcfa1b24 | 138 | //bv = -1.0*velocity.z; |
wchurch | 8:1011786787a4 | 139 | //wait(0.2); |
wchurch | 0:604ceafb7bb3 | 140 | } |
wchurch | 0:604ceafb7bb3 | 141 | } |