Wesley Schon / Mbed 2 deprecated ECE4180_Robot

Robot using IMU and IR sensor data to drive autonomously and create a map

Dependencies:   mbed mbed-rtos LSM9DS1_Library_cal Motor

main.cpp@8:198568d5746b, 2016-05-01 (annotated)

Committer:
wschon
Date:
Sun May 01 23:56:41 2016 +0000
Revision:
8:198568d5746b
Parent:
7:cbccf5c5da6d
Child:
9:36807f7e58fb
added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wschon 0:8e17f11689f2 1 #include "mbed.h"
wschon 2:fcf6f5901ee6 2 #include "rtos.h"
wschon 3:70f624c5fe26 3 #include "LSM9DS1.h"
wschon 3:70f624c5fe26 4 #define DECLINATION -4.94
wschon 3:70f624c5fe26 5 #define PI 3.14159
wschon 8:198568d5746b 6 #include "Motor.h"
wschon 8:198568d5746b 7
wschon 3:70f624c5fe26 8
wschon 6:a51f4ac6f42b 9 // Timer example: https://developer.mbed.org/handbook/Timer
wschon 2:fcf6f5901ee6 10 AnalogIn infraredR(p20); //Right infrared distance sensor
wschon 2:fcf6f5901ee6 11 AnalogIn infraredL(p19); //Left infrared distance sensor
wschon 2:fcf6f5901ee6 12 AnalogIn infraredF(p17); //Front infrared distance sensor
wschon 3:70f624c5fe26 13 Serial pc(USBTX, USBRX);
wschon 6:a51f4ac6f42b 14 Timer t;
wschon 8:198568d5746b 15 char str[40]; //buffer for xbee messages
wschon 8:198568d5746b 16 float maxspeed = 0.4;
wschon 8:198568d5746b 17 float minspeed = -0.4;
wschon 8:198568d5746b 18 float leftDist, rightDist, frontDist; //Distances from robot to obstacles
wschon 8:198568d5746b 19 float xaccel, yaccel, zaccel; //Acceleration in the x, y, and z directions
wschon 8:198568d5746b 20 float xmag, ymag, zmag, head; //Magnetic readings
wschon 8:198568d5746b 21 int ldist, rdist, fdist;
wschon 8:198568d5746b 22 Serial xbee(p28,p27); //xbee over serial
wschon 3:70f624c5fe26 23
wschon 7:cbccf5c5da6d 24 //dual H bridge Polulu
wschon 8:198568d5746b 25 Motor MotorRi(p21, p23, p24);
wschon 8:198568d5746b 26 Motor MotorLe(p22, p26, p25);
wschon 7:cbccf5c5da6d 27
wschon 7:cbccf5c5da6d 28
wschon 3:70f624c5fe26 29 void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
wschon 3:70f624c5fe26 30 {
wschon 3:70f624c5fe26 31 float roll = atan2(ay, az);
wschon 3:70f624c5fe26 32 float pitch = atan2(-ax, sqrt(ay * ay + az * az));
wschon 3:70f624c5fe26 33 // touchy trig stuff to use arctan to get compass heading (scale is 0..360)
wschon 3:70f624c5fe26 34 mx = -mx;
wschon 3:70f624c5fe26 35 float heading;
wschon 3:70f624c5fe26 36 if (my == 0.0)
wschon 3:70f624c5fe26 37 heading = (mx < 0.0) ? 180.0 : 0.0;
wschon 3:70f624c5fe26 38 else
wschon 3:70f624c5fe26 39 heading = atan2(mx, my)*360.0/(2.0*PI);
wschon 3:70f624c5fe26 40 //pc.printf("heading atan=%f \n\r",heading);
wschon 3:70f624c5fe26 41 heading -= DECLINATION; //correct for geo location
wschon 3:70f624c5fe26 42 if(heading>180.0) heading = heading - 360.0;
wschon 3:70f624c5fe26 43 else if(heading<-180.0) heading = 360.0 + heading;
wschon 3:70f624c5fe26 44 else if(heading<0.0) heading = 360.0 + heading;
wschon 3:70f624c5fe26 45
wschon 3:70f624c5fe26 46
wschon 3:70f624c5fe26 47 // Convert everything from radians to degrees:
wschon 3:70f624c5fe26 48 //heading *= 180.0 / PI;
wschon 3:70f624c5fe26 49 pitch *= 180.0 / PI;
wschon 3:70f624c5fe26 50 roll *= 180.0 / PI;
wschon 3:70f624c5fe26 51
wschon 3:70f624c5fe26 52 //pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll);
wschon 3:70f624c5fe26 53 //pc.printf("Magnetic Heading: %f degress\n\r",heading);
wschon 3:70f624c5fe26 54 head = heading;
wschon 3:70f624c5fe26 55 }
wschon 3:70f624c5fe26 56
wschon 3:70f624c5fe26 57 void IMU_thread(void const *args) {
wschon 8:198568d5746b 58 LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
wschon 6:a51f4ac6f42b 59 IMU.begin();
wschon 6:a51f4ac6f42b 60 if (!IMU.begin()) {
wschon 6:a51f4ac6f42b 61 pc.printf("Failed to communicate with LSM9DS1.\n");
wschon 6:a51f4ac6f42b 62 }
wschon 3:70f624c5fe26 63 IMU.calibrate(1);
wschon 8:198568d5746b 64 pc.printf("calibrated accel, now do mag\r\n");
wschon 3:70f624c5fe26 65 IMU.calibrateMag(0);
wschon 8:198568d5746b 66 pc.printf("calibrated mag\r\n");
wschon 3:70f624c5fe26 67 while(1) {
wschon 8:198568d5746b 68 pc.printf("check accelAvailable\r\n");
wschon 3:70f624c5fe26 69 while(!IMU.accelAvailable());
wschon 8:198568d5746b 70 //pc.printf("got accel\r\n");
wschon 3:70f624c5fe26 71 IMU.readAccel();
wschon 3:70f624c5fe26 72 while(!IMU.magAvailable(X_AXIS));
wschon 8:198568d5746b 73 //pc.printf("got mag\r\n");
wschon 3:70f624c5fe26 74 IMU.readMag();
wschon 3:70f624c5fe26 75 xaccel = IMU.calcAccel(IMU.ax);
wschon 3:70f624c5fe26 76 yaccel = IMU.calcAccel(IMU.ay);
wschon 3:70f624c5fe26 77 zaccel = IMU.calcAccel(IMU.az);
wschon 8:198568d5746b 78 //pc.printf("%f\r\n",zaccel);
wschon 3:70f624c5fe26 79 xmag = IMU.calcMag(IMU.mx);
wschon 3:70f624c5fe26 80 ymag = IMU.calcMag(IMU.my);
wschon 3:70f624c5fe26 81 zmag = IMU.calcMag(IMU.mz);
wschon 8:198568d5746b 82 //printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
wschon 3:70f624c5fe26 83 Thread::wait(500); //Wait 1/2 second
wschon 3:70f624c5fe26 84 }
wschon 3:70f624c5fe26 85 }
wschon 0:8e17f11689f2 86
wschon 2:fcf6f5901ee6 87 void left_thread(void const *args) {
wschon 2:fcf6f5901ee6 88 while (1) {
wschon 6:a51f4ac6f42b 89 leftDist = infraredL * 80.0f;
wschon 6:a51f4ac6f42b 90 leftDist = 80.0f - leftDist;
wschon 6:a51f4ac6f42b 91 ldist = (int)leftDist;
wschon 2:fcf6f5901ee6 92 Thread::wait(500); //wait 1/2 second before updating
wschon 2:fcf6f5901ee6 93 }
wschon 2:fcf6f5901ee6 94 }
wschon 2:fcf6f5901ee6 95
wschon 2:fcf6f5901ee6 96 void right_thread(void const *args) {
wschon 2:fcf6f5901ee6 97 while (1) {
wschon 6:a51f4ac6f42b 98 rightDist = infraredR * 80.0f;
wschon 6:a51f4ac6f42b 99 rightDist = 80.0f - rightDist;
wschon 6:a51f4ac6f42b 100 rdist = (int)rightDist;
wschon 2:fcf6f5901ee6 101 Thread::wait(500); //wait 1/2 second before updating
wschon 2:fcf6f5901ee6 102 }
wschon 2:fcf6f5901ee6 103 }
wschon 2:fcf6f5901ee6 104
wschon 2:fcf6f5901ee6 105 void front_thread(void const *args) {
wschon 2:fcf6f5901ee6 106 while (1) {
wschon 6:a51f4ac6f42b 107 frontDist = infraredF * 80.0f;
wschon 6:a51f4ac6f42b 108 frontDist = 80.0f - frontDist;
wschon 6:a51f4ac6f42b 109 fdist = (int)frontDist;
wschon 2:fcf6f5901ee6 110 Thread::wait(500); //wait 1/2 second before updating
wschon 2:fcf6f5901ee6 111 }
wschon 2:fcf6f5901ee6 112 }
wschon 0:8e17f11689f2 113
wschon 7:cbccf5c5da6d 114 void send_thread(void const *args) {
wschon 8:198568d5746b 115 xbee.baud(9600);
wschon 7:cbccf5c5da6d 116 while (1) {
wschon 8:198568d5746b 117 //stdio_mutex.lock();
wschon 7:cbccf5c5da6d 118 sprintf (str, "%0.6f,%0.6f,%0.6f,%d,%d,%d,%d\n", xaccel, zaccel, ymag, fdist, ldist, rdist, t.read_us()); //buffer data to be sent to computer
wschon 8:198568d5746b 119 pc.printf(str);
wschon 8:198568d5746b 120 //pc.printf("%0.6f\r\n", zmag);
wschon 8:198568d5746b 121 xbee.printf(str);
wschon 8:198568d5746b 122 //stdio_mutex.unlock();
wschon 7:cbccf5c5da6d 123 Thread::wait(500);
wschon 7:cbccf5c5da6d 124 }
wschon 7:cbccf5c5da6d 125 }
wschon 7:cbccf5c5da6d 126
wschon 8:198568d5746b 127 void motor_thread(void const *args) {
wschon 8:198568d5746b 128 Thread::wait(5000); //allow gyro and accel to calibrate on level surface
wschon 8:198568d5746b 129 MotorRi.speed(0.4);
wschon 8:198568d5746b 130 MotorLe.speed(-0.4);
wschon 8:198568d5746b 131 Thread::wait(3000); //allow mag to calibrate by spinning
wschon 8:198568d5746b 132 while(1) {
wschon 8:198568d5746b 133 if (fdist > 30) { //if there's room to go forward
wschon 8:198568d5746b 134 if (ldist < 20) {
wschon 8:198568d5746b 135 MotorRi.speed(0.1);
wschon 8:198568d5746b 136 MotorLe.speed(0.4);
wschon 8:198568d5746b 137 Thread::wait(80);
wschon 8:198568d5746b 138 }
wschon 8:198568d5746b 139 else if (rdist < 20) {
wschon 8:198568d5746b 140 MotorRi.speed(0.4);
wschon 8:198568d5746b 141 MotorLe.speed(0.1);
wschon 8:198568d5746b 142 Thread::wait(80);
wschon 8:198568d5746b 143 }
wschon 8:198568d5746b 144 else {
wschon 8:198568d5746b 145 MotorRi.speed(0.4);
wschon 8:198568d5746b 146 MotorLe.speed(0.4);
wschon 8:198568d5746b 147 }
wschon 8:198568d5746b 148 }
wschon 8:198568d5746b 149 else if (rdist < ldist) { //hard turn to the left
wschon 8:198568d5746b 150 MotorRi.speed(0.4);
wschon 8:198568d5746b 151 MotorLe.speed(-0.4);
wschon 8:198568d5746b 152 Thread::wait(200);
wschon 8:198568d5746b 153 }
wschon 8:198568d5746b 154 else if (ldist < rdist) { //hard turn to the right
wschon 8:198568d5746b 155 MotorRi.speed(-0.4);
wschon 8:198568d5746b 156 MotorLe.speed(0.4);
wschon 8:198568d5746b 157 Thread::wait(200);
wschon 8:198568d5746b 158 }
wschon 8:198568d5746b 159 }
wschon 8:198568d5746b 160 }
wschon 7:cbccf5c5da6d 161
wschon 0:8e17f11689f2 162 int main() {
swilkins8 1:27c32ba9fe93 163 //Test
wschon 7:cbccf5c5da6d 164 t.start();
wschon 2:fcf6f5901ee6 165 Thread left(left_thread);
wschon 2:fcf6f5901ee6 166 Thread right(right_thread);
wschon 2:fcf6f5901ee6 167 Thread front(front_thread);
wschon 6:a51f4ac6f42b 168 Thread IMU(IMU_thread);
wschon 8:198568d5746b 169 Thread Mot(motor_thread);
wschon 7:cbccf5c5da6d 170 Thread send(send_thread);
wschon 8:198568d5746b 171 while(1){
wschon 8:198568d5746b 172 //do stuff
wschon 8:198568d5746b 173 }
wschon 0:8e17f11689f2 174 }