Robot using IMU and IR sensor data to drive autonomously and create a map
Dependencies: mbed mbed-rtos LSM9DS1_Library_cal Motor
main.cpp@9:36807f7e58fb, 2016-05-02 (annotated)
- Committer:
- wschon
- Date:
- Mon May 02 04:33:43 2016 +0000
- Revision:
- 9:36807f7e58fb
- Parent:
- 8:198568d5746b
- Child:
- 11:805ef606a29d
f
Who changed what in which revision?
User | Revision | Line number | New 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 | 9:36807f7e58fb | 15 | char str[60]; //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 | 9:36807f7e58fb | 23 | Mutex stdio_mutex; |
wschon | 9:36807f7e58fb | 24 | float heading; |
wschon | 7:cbccf5c5da6d | 25 | //dual H bridge Polulu |
wschon | 8:198568d5746b | 26 | Motor MotorRi(p21, p23, p24); |
wschon | 8:198568d5746b | 27 | Motor MotorLe(p22, p26, p25); |
wschon | 9:36807f7e58fb | 28 | float ti = 0, timelast = 0, deltat; |
wschon | 7:cbccf5c5da6d | 29 | |
wschon | 9:36807f7e58fb | 30 | float imu[] = {0, 0, 0}; |
wschon | 9:36807f7e58fb | 31 | float velX[] = {0, 0, 0}; |
wschon | 9:36807f7e58fb | 32 | float velY[] = {0, 0, 0}; |
wschon | 9:36807f7e58fb | 33 | float posX[] = {0, 0, 0}; |
wschon | 9:36807f7e58fb | 34 | float posY[] = {0, 0, 0}; |
wschon | 9:36807f7e58fb | 35 | float compass[] = {0, 0, 0}; |
wschon | 7:cbccf5c5da6d | 36 | |
wschon | 3:70f624c5fe26 | 37 | void printAttitude(float ax, float ay, float az, float mx, float my, float mz) |
wschon | 3:70f624c5fe26 | 38 | { |
wschon | 3:70f624c5fe26 | 39 | float roll = atan2(ay, az); |
wschon | 3:70f624c5fe26 | 40 | float pitch = atan2(-ax, sqrt(ay * ay + az * az)); |
wschon | 3:70f624c5fe26 | 41 | // touchy trig stuff to use arctan to get compass heading (scale is 0..360) |
wschon | 3:70f624c5fe26 | 42 | mx = -mx; |
wschon | 3:70f624c5fe26 | 43 | if (my == 0.0) |
wschon | 3:70f624c5fe26 | 44 | heading = (mx < 0.0) ? 180.0 : 0.0; |
wschon | 3:70f624c5fe26 | 45 | else |
wschon | 3:70f624c5fe26 | 46 | heading = atan2(mx, my)*360.0/(2.0*PI); |
wschon | 3:70f624c5fe26 | 47 | //pc.printf("heading atan=%f \n\r",heading); |
wschon | 3:70f624c5fe26 | 48 | heading -= DECLINATION; //correct for geo location |
wschon | 3:70f624c5fe26 | 49 | if(heading>180.0) heading = heading - 360.0; |
wschon | 3:70f624c5fe26 | 50 | else if(heading<-180.0) heading = 360.0 + heading; |
wschon | 3:70f624c5fe26 | 51 | else if(heading<0.0) heading = 360.0 + heading; |
wschon | 3:70f624c5fe26 | 52 | |
wschon | 3:70f624c5fe26 | 53 | |
wschon | 3:70f624c5fe26 | 54 | // Convert everything from radians to degrees: |
wschon | 3:70f624c5fe26 | 55 | //heading *= 180.0 / PI; |
wschon | 3:70f624c5fe26 | 56 | pitch *= 180.0 / PI; |
wschon | 3:70f624c5fe26 | 57 | roll *= 180.0 / PI; |
wschon | 3:70f624c5fe26 | 58 | |
wschon | 3:70f624c5fe26 | 59 | //pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll); |
wschon | 3:70f624c5fe26 | 60 | //pc.printf("Magnetic Heading: %f degress\n\r",heading); |
wschon | 9:36807f7e58fb | 61 | head = heading * PI / 180.0; |
wschon | 9:36807f7e58fb | 62 | } |
wschon | 9:36807f7e58fb | 63 | |
wschon | 9:36807f7e58fb | 64 | void shiftArrays() { |
wschon | 9:36807f7e58fb | 65 | int i; |
wschon | 9:36807f7e58fb | 66 | for (i = 2; i > 0; i--) { |
wschon | 9:36807f7e58fb | 67 | posX[i] = posX[i - 1]; |
wschon | 9:36807f7e58fb | 68 | posY[i] = posY[i - 1]; |
wschon | 9:36807f7e58fb | 69 | velX[i] = velX[i - 1]; |
wschon | 9:36807f7e58fb | 70 | velY[i] = velY[i - 1]; |
wschon | 9:36807f7e58fb | 71 | imu[i] = imu[i - 1]; |
wschon | 9:36807f7e58fb | 72 | compass[i] = compass[i-1]; |
wschon | 9:36807f7e58fb | 73 | } |
wschon | 3:70f624c5fe26 | 74 | } |
wschon | 3:70f624c5fe26 | 75 | |
wschon | 3:70f624c5fe26 | 76 | void IMU_thread(void const *args) { |
wschon | 8:198568d5746b | 77 | LSM9DS1 IMU(p9, p10, 0xD6, 0x3C); |
wschon | 6:a51f4ac6f42b | 78 | IMU.begin(); |
wschon | 6:a51f4ac6f42b | 79 | if (!IMU.begin()) { |
wschon | 6:a51f4ac6f42b | 80 | pc.printf("Failed to communicate with LSM9DS1.\n"); |
wschon | 6:a51f4ac6f42b | 81 | } |
wschon | 3:70f624c5fe26 | 82 | IMU.calibrate(1); |
wschon | 9:36807f7e58fb | 83 | //pc.printf("calibrated accel, now do mag\r\n"); |
wschon | 3:70f624c5fe26 | 84 | IMU.calibrateMag(0); |
wschon | 9:36807f7e58fb | 85 | //pc.printf("calibrated mag\r\n"); |
wschon | 3:70f624c5fe26 | 86 | while(1) { |
wschon | 9:36807f7e58fb | 87 | //pc.printf("check accelAvailable\r\n"); |
wschon | 3:70f624c5fe26 | 88 | while(!IMU.accelAvailable()); |
wschon | 8:198568d5746b | 89 | //pc.printf("got accel\r\n"); |
wschon | 3:70f624c5fe26 | 90 | IMU.readAccel(); |
wschon | 3:70f624c5fe26 | 91 | while(!IMU.magAvailable(X_AXIS)); |
wschon | 8:198568d5746b | 92 | //pc.printf("got mag\r\n"); |
wschon | 3:70f624c5fe26 | 93 | IMU.readMag(); |
wschon | 3:70f624c5fe26 | 94 | xaccel = IMU.calcAccel(IMU.ax); |
wschon | 9:36807f7e58fb | 95 | if (abs(xaccel) < 0.13) |
wschon | 9:36807f7e58fb | 96 | xaccel = 0.0; |
wschon | 3:70f624c5fe26 | 97 | yaccel = IMU.calcAccel(IMU.ay); |
wschon | 9:36807f7e58fb | 98 | if (abs(yaccel) < 0.13) |
wschon | 9:36807f7e58fb | 99 | yaccel = 0.0; |
wschon | 3:70f624c5fe26 | 100 | zaccel = IMU.calcAccel(IMU.az); |
wschon | 9:36807f7e58fb | 101 | if (abs(zaccel) < 0.13) |
wschon | 9:36807f7e58fb | 102 | zaccel = 0.0; |
wschon | 8:198568d5746b | 103 | //pc.printf("%f\r\n",zaccel); |
wschon | 3:70f624c5fe26 | 104 | xmag = IMU.calcMag(IMU.mx); |
wschon | 3:70f624c5fe26 | 105 | ymag = IMU.calcMag(IMU.my); |
wschon | 3:70f624c5fe26 | 106 | zmag = IMU.calcMag(IMU.mz); |
wschon | 9:36807f7e58fb | 107 | 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 | 9:36807f7e58fb | 108 | shiftArrays(); |
wschon | 9:36807f7e58fb | 109 | imu[0] = xaccel; |
wschon | 9:36807f7e58fb | 110 | compass[0] = head; |
wschon | 9:36807f7e58fb | 111 | velX[0] += imu[0]*cos(compass[0]) * deltat; |
wschon | 9:36807f7e58fb | 112 | velY[0] += imu[0]*sin(compass[0]) * deltat; |
wschon | 9:36807f7e58fb | 113 | posX[0] += velX[0] * deltat; |
wschon | 9:36807f7e58fb | 114 | posY[0] += velY[0] * deltat; |
wschon | 9:36807f7e58fb | 115 | // Thread::wait(50); //Wait |
wschon | 3:70f624c5fe26 | 116 | } |
wschon | 3:70f624c5fe26 | 117 | } |
wschon | 0:8e17f11689f2 | 118 | |
wschon | 2:fcf6f5901ee6 | 119 | void left_thread(void const *args) { |
wschon | 2:fcf6f5901ee6 | 120 | while (1) { |
wschon | 6:a51f4ac6f42b | 121 | leftDist = infraredL * 80.0f; |
wschon | 6:a51f4ac6f42b | 122 | leftDist = 80.0f - leftDist; |
wschon | 6:a51f4ac6f42b | 123 | ldist = (int)leftDist; |
wschon | 2:fcf6f5901ee6 | 124 | Thread::wait(500); //wait 1/2 second before updating |
wschon | 2:fcf6f5901ee6 | 125 | } |
wschon | 2:fcf6f5901ee6 | 126 | } |
wschon | 2:fcf6f5901ee6 | 127 | |
wschon | 2:fcf6f5901ee6 | 128 | void right_thread(void const *args) { |
wschon | 2:fcf6f5901ee6 | 129 | while (1) { |
wschon | 6:a51f4ac6f42b | 130 | rightDist = infraredR * 80.0f; |
wschon | 6:a51f4ac6f42b | 131 | rightDist = 80.0f - rightDist; |
wschon | 6:a51f4ac6f42b | 132 | rdist = (int)rightDist; |
wschon | 2:fcf6f5901ee6 | 133 | Thread::wait(500); //wait 1/2 second before updating |
wschon | 2:fcf6f5901ee6 | 134 | } |
wschon | 2:fcf6f5901ee6 | 135 | } |
wschon | 2:fcf6f5901ee6 | 136 | |
wschon | 2:fcf6f5901ee6 | 137 | void front_thread(void const *args) { |
wschon | 2:fcf6f5901ee6 | 138 | while (1) { |
wschon | 6:a51f4ac6f42b | 139 | frontDist = infraredF * 80.0f; |
wschon | 6:a51f4ac6f42b | 140 | frontDist = 80.0f - frontDist; |
wschon | 6:a51f4ac6f42b | 141 | fdist = (int)frontDist; |
wschon | 2:fcf6f5901ee6 | 142 | Thread::wait(500); //wait 1/2 second before updating |
wschon | 2:fcf6f5901ee6 | 143 | } |
wschon | 2:fcf6f5901ee6 | 144 | } |
wschon | 0:8e17f11689f2 | 145 | |
wschon | 7:cbccf5c5da6d | 146 | void send_thread(void const *args) { |
wschon | 8:198568d5746b | 147 | xbee.baud(9600); |
wschon | 7:cbccf5c5da6d | 148 | while (1) { |
wschon | 9:36807f7e58fb | 149 | ti = t.read(); |
wschon | 9:36807f7e58fb | 150 | deltat = ti-timelast; |
wschon | 9:36807f7e58fb | 151 | stdio_mutex.lock(); |
wschon | 9:36807f7e58fb | 152 | sprintf (str, "%0.6f,%0.6f,%0.6f,%d,%d,%d,%0.6f\n", posX[0], posY[0], heading, fdist, ldist, rdist, deltat); //buffer data to be sent to computer |
wschon | 8:198568d5746b | 153 | pc.printf(str); |
wschon | 9:36807f7e58fb | 154 | //pc.printf("%0.6f\r\n", zmag*9.8); |
wschon | 8:198568d5746b | 155 | xbee.printf(str); |
wschon | 9:36807f7e58fb | 156 | stdio_mutex.unlock(); |
wschon | 9:36807f7e58fb | 157 | timelast = ti; |
wschon | 7:cbccf5c5da6d | 158 | Thread::wait(500); |
wschon | 7:cbccf5c5da6d | 159 | } |
wschon | 7:cbccf5c5da6d | 160 | } |
wschon | 7:cbccf5c5da6d | 161 | |
wschon | 8:198568d5746b | 162 | void motor_thread(void const *args) { |
wschon | 8:198568d5746b | 163 | Thread::wait(5000); //allow gyro and accel to calibrate on level surface |
wschon | 8:198568d5746b | 164 | MotorRi.speed(0.4); |
wschon | 8:198568d5746b | 165 | MotorLe.speed(-0.4); |
wschon | 8:198568d5746b | 166 | Thread::wait(3000); //allow mag to calibrate by spinning |
wschon | 8:198568d5746b | 167 | while(1) { |
wschon | 9:36807f7e58fb | 168 | if (fdist > 40) { //if there's room to go forward |
wschon | 8:198568d5746b | 169 | if (ldist < 20) { |
wschon | 8:198568d5746b | 170 | MotorRi.speed(0.1); |
wschon | 9:36807f7e58fb | 171 | MotorLe.speed(0.3); |
wschon | 9:36807f7e58fb | 172 | Thread::wait(40); |
wschon | 8:198568d5746b | 173 | } |
wschon | 8:198568d5746b | 174 | else if (rdist < 20) { |
wschon | 9:36807f7e58fb | 175 | MotorRi.speed(0.3); |
wschon | 8:198568d5746b | 176 | MotorLe.speed(0.1); |
wschon | 9:36807f7e58fb | 177 | Thread::wait(40); |
wschon | 8:198568d5746b | 178 | } |
wschon | 8:198568d5746b | 179 | else { |
wschon | 9:36807f7e58fb | 180 | MotorRi.speed(0.3); |
wschon | 9:36807f7e58fb | 181 | MotorLe.speed(0.3); |
wschon | 8:198568d5746b | 182 | } |
wschon | 8:198568d5746b | 183 | } |
wschon | 8:198568d5746b | 184 | else if (rdist < ldist) { //hard turn to the left |
wschon | 9:36807f7e58fb | 185 | MotorRi.speed(0.3); |
wschon | 9:36807f7e58fb | 186 | MotorLe.speed(-0.3); |
wschon | 9:36807f7e58fb | 187 | Thread::wait(100); |
wschon | 8:198568d5746b | 188 | } |
wschon | 8:198568d5746b | 189 | else if (ldist < rdist) { //hard turn to the right |
wschon | 8:198568d5746b | 190 | MotorRi.speed(-0.4); |
wschon | 8:198568d5746b | 191 | MotorLe.speed(0.4); |
wschon | 9:36807f7e58fb | 192 | Thread::wait(100); |
wschon | 8:198568d5746b | 193 | } |
wschon | 8:198568d5746b | 194 | } |
wschon | 8:198568d5746b | 195 | } |
wschon | 7:cbccf5c5da6d | 196 | |
wschon | 0:8e17f11689f2 | 197 | int main() { |
swilkins8 | 1:27c32ba9fe93 | 198 | //Test |
wschon | 7:cbccf5c5da6d | 199 | t.start(); |
wschon | 2:fcf6f5901ee6 | 200 | Thread left(left_thread); |
wschon | 2:fcf6f5901ee6 | 201 | Thread right(right_thread); |
wschon | 2:fcf6f5901ee6 | 202 | Thread front(front_thread); |
wschon | 6:a51f4ac6f42b | 203 | Thread IMU(IMU_thread); |
wschon | 8:198568d5746b | 204 | Thread Mot(motor_thread); |
wschon | 7:cbccf5c5da6d | 205 | Thread send(send_thread); |
wschon | 8:198568d5746b | 206 | while(1){ |
wschon | 8:198568d5746b | 207 | //do stuff |
wschon | 8:198568d5746b | 208 | } |
wschon | 0:8e17f11689f2 | 209 | } |