Robot using IMU and IR sensor data to drive autonomously and create a map
Dependencies: mbed mbed-rtos LSM9DS1_Library_cal Motor
main.cpp
- Committer:
- leeeang
- Date:
- 2016-04-26
- Revision:
- 5:665b9dc3d22f
- Parent:
- 4:18e9f16cc53c
File content as of revision 5:665b9dc3d22f:
#include "mbed.h" #include "rtos.h" #include "LSM9DS1.h" #define DECLINATION -4.94 #define PI 3.14159 AnalogIn infraredR(p20); //Right infrared distance sensor AnalogIn infraredL(p19); //Left infrared distance sensor AnalogIn infraredF(p17); //Front infrared distance sensor Serial pc(USBTX, USBRX); float leftDist, rightDist, frontDist; //Distances from robot to obstacles float xaccel, yaccel, zaccel; //Acceleration in the x, y, and z directions float xmag, ymag, zmag, head; //Magnetic readings void printAttitude(float ax, float ay, float az, float mx, float my, float mz) { float roll = atan2(ay, az); float pitch = atan2(-ax, sqrt(ay * ay + az * az)); // touchy trig stuff to use arctan to get compass heading (scale is 0..360) mx = -mx; float heading; if (my == 0.0) heading = (mx < 0.0) ? 180.0 : 0.0; else heading = atan2(mx, my)*360.0/(2.0*PI); //pc.printf("heading atan=%f \n\r",heading); heading -= DECLINATION; //correct for geo location if(heading>180.0) heading = heading - 360.0; else if(heading<-180.0) heading = 360.0 + heading; else if(heading<0.0) heading = 360.0 + heading; // Convert everything from radians to degrees: //heading *= 180.0 / PI; pitch *= 180.0 / PI; roll *= 180.0 / PI; //pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll); //pc.printf("Magnetic Heading: %f degress\n\r",heading); head = heading; } void IMU_thread(void const *args) { LSM9DS1 IMU(p28, p27, 0xD6, 0x3C); IMU.calibrate(1); IMU.calibrateMag(0); while(1) { while(!IMU.accelAvailable()); IMU.readAccel(); while(!IMU.magAvailable(X_AXIS)); IMU.readMag(); xaccel = IMU.calcAccel(IMU.ax); yaccel = IMU.calcAccel(IMU.ay); zaccel = IMU.calcAccel(IMU.az); xmag = IMU.calcMag(IMU.mx); ymag = IMU.calcMag(IMU.my); zmag = IMU.calcMag(IMU.mz); 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)); Thread::wait(500); //Wait 1/2 second } } void left_thread(void const *args) { while (1) { leftDist = infraredL * 3.3f; Thread::wait(500); //wait 1/2 second before updating } } void right_thread(void const *args) { while (1) { rightDist = infraredR * 3.3f; Thread::wait(500); //wait 1/2 second before updating } } void front_thread(void const *args) { while (1) { frontDist = infraredF * 3.3f; Thread::wait(500); //wait 1/2 second before updating } } int main() { //Test Thread left(left_thread); Thread right(right_thread); Thread front(front_thread); while(1) { } } //driving robot /* #include "mbed.h" //dual H bridge Polulu PwmOut PWMA(p21); //connect p21 to PWMA PwmOut PWMB(p22); //connect p22 to PWMB DigitalOut Ain1(p23); //connect p23 to Ain1 DigitalOut Ain2(p24); //connect p24 to Ain2 int main() { Ain1=Ain2=1; //enabling PWM while(1) { PWMA.write(0.5f); //writing 50% duty cycle PWMB.write(0.5f); //to pwm A and B } } */