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:
- wschon
- Date:
- 2016-04-24
- Revision:
- 6:a51f4ac6f42b
- Parent:
- 4:18e9f16cc53c
- Child:
- 7:cbccf5c5da6d
File content as of revision 6:a51f4ac6f42b:
#include "mbed.h" #include "rtos.h" #include "LSM9DS1.h" #define DECLINATION -4.94 #define PI 3.14159 // Timer example: https://developer.mbed.org/handbook/Timer 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); Timer t; 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 int ldist, rdist, fdist; 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.begin(); if (!IMU.begin()) { pc.printf("Failed to communicate with LSM9DS1.\n"); } 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); pc.printf("%f\r\n",zaccel); 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 * 80.0f; leftDist = 80.0f - leftDist; ldist = (int)leftDist; Thread::wait(500); //wait 1/2 second before updating //pc.printf("Left distance %d\r\n", ldist); } } void right_thread(void const *args) { while (1) { rightDist = infraredR * 80.0f; rightDist = 80.0f - rightDist; rdist = (int)rightDist; rdist = (int)rightDist; Thread::wait(500); //wait 1/2 second before updating //pc.printf("Right distance %d\r\n", rdist); } } void front_thread(void const *args) { while (1) { frontDist = infraredF * 80.0f; frontDist = 80.0f - frontDist; fdist = (int)frontDist; Thread::wait(500); //wait 1/2 second before updating pc.printf("Front distance %d\r\n", fdist); } } int main() { //Test t.begin(); Thread left(left_thread); Thread right(right_thread); Thread front(front_thread); Thread IMU(IMU_thread); while(1) { } }