Robot using IMU and IR sensor data to drive autonomously and create a map
Dependencies: mbed mbed-rtos LSM9DS1_Library_cal Motor
main.cpp@6:a51f4ac6f42b, 2016-04-24 (annotated)
- Committer:
- wschon
- Date:
- Sun Apr 24 21:08:30 2016 +0000
- Revision:
- 6:a51f4ac6f42b
- Parent:
- 4:18e9f16cc53c
- Child:
- 7:cbccf5c5da6d
Added timer and IMU, made distance variables ints ranging from ~10 - ~70 cm
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 | 3:70f624c5fe26 | 6 | |
wschon | 6:a51f4ac6f42b | 7 | // Timer example: https://developer.mbed.org/handbook/Timer |
wschon | 2:fcf6f5901ee6 | 8 | AnalogIn infraredR(p20); //Right infrared distance sensor |
wschon | 2:fcf6f5901ee6 | 9 | AnalogIn infraredL(p19); //Left infrared distance sensor |
wschon | 2:fcf6f5901ee6 | 10 | AnalogIn infraredF(p17); //Front infrared distance sensor |
wschon | 3:70f624c5fe26 | 11 | Serial pc(USBTX, USBRX); |
wschon | 6:a51f4ac6f42b | 12 | Timer t; |
wschon | 6:a51f4ac6f42b | 13 | |
wschon | 2:fcf6f5901ee6 | 14 | float leftDist, rightDist, frontDist; //Distances from robot to obstacles |
wschon | 3:70f624c5fe26 | 15 | float xaccel, yaccel, zaccel; //Acceleration in the x, y, and z directions |
wschon | 3:70f624c5fe26 | 16 | float xmag, ymag, zmag, head; //Magnetic readings |
wschon | 6:a51f4ac6f42b | 17 | int ldist, rdist, fdist; |
wschon | 3:70f624c5fe26 | 18 | |
wschon | 3:70f624c5fe26 | 19 | void printAttitude(float ax, float ay, float az, float mx, float my, float mz) |
wschon | 3:70f624c5fe26 | 20 | { |
wschon | 3:70f624c5fe26 | 21 | float roll = atan2(ay, az); |
wschon | 3:70f624c5fe26 | 22 | float pitch = atan2(-ax, sqrt(ay * ay + az * az)); |
wschon | 3:70f624c5fe26 | 23 | // touchy trig stuff to use arctan to get compass heading (scale is 0..360) |
wschon | 3:70f624c5fe26 | 24 | mx = -mx; |
wschon | 3:70f624c5fe26 | 25 | float heading; |
wschon | 3:70f624c5fe26 | 26 | if (my == 0.0) |
wschon | 3:70f624c5fe26 | 27 | heading = (mx < 0.0) ? 180.0 : 0.0; |
wschon | 3:70f624c5fe26 | 28 | else |
wschon | 3:70f624c5fe26 | 29 | heading = atan2(mx, my)*360.0/(2.0*PI); |
wschon | 3:70f624c5fe26 | 30 | //pc.printf("heading atan=%f \n\r",heading); |
wschon | 3:70f624c5fe26 | 31 | heading -= DECLINATION; //correct for geo location |
wschon | 3:70f624c5fe26 | 32 | if(heading>180.0) heading = heading - 360.0; |
wschon | 3:70f624c5fe26 | 33 | else if(heading<-180.0) heading = 360.0 + heading; |
wschon | 3:70f624c5fe26 | 34 | else if(heading<0.0) heading = 360.0 + heading; |
wschon | 3:70f624c5fe26 | 35 | |
wschon | 3:70f624c5fe26 | 36 | |
wschon | 3:70f624c5fe26 | 37 | // Convert everything from radians to degrees: |
wschon | 3:70f624c5fe26 | 38 | //heading *= 180.0 / PI; |
wschon | 3:70f624c5fe26 | 39 | pitch *= 180.0 / PI; |
wschon | 3:70f624c5fe26 | 40 | roll *= 180.0 / PI; |
wschon | 3:70f624c5fe26 | 41 | |
wschon | 3:70f624c5fe26 | 42 | //pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll); |
wschon | 3:70f624c5fe26 | 43 | //pc.printf("Magnetic Heading: %f degress\n\r",heading); |
wschon | 3:70f624c5fe26 | 44 | head = heading; |
wschon | 3:70f624c5fe26 | 45 | } |
wschon | 3:70f624c5fe26 | 46 | |
wschon | 3:70f624c5fe26 | 47 | void IMU_thread(void const *args) { |
wschon | 3:70f624c5fe26 | 48 | LSM9DS1 IMU(p28, p27, 0xD6, 0x3C); |
wschon | 6:a51f4ac6f42b | 49 | IMU.begin(); |
wschon | 6:a51f4ac6f42b | 50 | if (!IMU.begin()) { |
wschon | 6:a51f4ac6f42b | 51 | pc.printf("Failed to communicate with LSM9DS1.\n"); |
wschon | 6:a51f4ac6f42b | 52 | } |
wschon | 3:70f624c5fe26 | 53 | IMU.calibrate(1); |
wschon | 3:70f624c5fe26 | 54 | IMU.calibrateMag(0); |
wschon | 3:70f624c5fe26 | 55 | while(1) { |
wschon | 3:70f624c5fe26 | 56 | while(!IMU.accelAvailable()); |
wschon | 3:70f624c5fe26 | 57 | IMU.readAccel(); |
wschon | 3:70f624c5fe26 | 58 | while(!IMU.magAvailable(X_AXIS)); |
wschon | 3:70f624c5fe26 | 59 | IMU.readMag(); |
wschon | 3:70f624c5fe26 | 60 | xaccel = IMU.calcAccel(IMU.ax); |
wschon | 3:70f624c5fe26 | 61 | yaccel = IMU.calcAccel(IMU.ay); |
wschon | 3:70f624c5fe26 | 62 | zaccel = IMU.calcAccel(IMU.az); |
wschon | 6:a51f4ac6f42b | 63 | pc.printf("%f\r\n",zaccel); |
wschon | 3:70f624c5fe26 | 64 | xmag = IMU.calcMag(IMU.mx); |
wschon | 3:70f624c5fe26 | 65 | ymag = IMU.calcMag(IMU.my); |
wschon | 3:70f624c5fe26 | 66 | zmag = IMU.calcMag(IMU.mz); |
wschon | 4:18e9f16cc53c | 67 | 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 | 68 | Thread::wait(500); //Wait 1/2 second |
wschon | 3:70f624c5fe26 | 69 | } |
wschon | 3:70f624c5fe26 | 70 | } |
wschon | 0:8e17f11689f2 | 71 | |
wschon | 2:fcf6f5901ee6 | 72 | void left_thread(void const *args) { |
wschon | 2:fcf6f5901ee6 | 73 | while (1) { |
wschon | 6:a51f4ac6f42b | 74 | leftDist = infraredL * 80.0f; |
wschon | 6:a51f4ac6f42b | 75 | leftDist = 80.0f - leftDist; |
wschon | 6:a51f4ac6f42b | 76 | ldist = (int)leftDist; |
wschon | 2:fcf6f5901ee6 | 77 | Thread::wait(500); //wait 1/2 second before updating |
wschon | 6:a51f4ac6f42b | 78 | //pc.printf("Left distance %d\r\n", ldist); |
wschon | 2:fcf6f5901ee6 | 79 | } |
wschon | 2:fcf6f5901ee6 | 80 | } |
wschon | 2:fcf6f5901ee6 | 81 | |
wschon | 2:fcf6f5901ee6 | 82 | void right_thread(void const *args) { |
wschon | 2:fcf6f5901ee6 | 83 | while (1) { |
wschon | 6:a51f4ac6f42b | 84 | rightDist = infraredR * 80.0f; |
wschon | 6:a51f4ac6f42b | 85 | rightDist = 80.0f - rightDist; |
wschon | 6:a51f4ac6f42b | 86 | rdist = (int)rightDist; |
wschon | 6:a51f4ac6f42b | 87 | rdist = (int)rightDist; |
wschon | 2:fcf6f5901ee6 | 88 | Thread::wait(500); //wait 1/2 second before updating |
wschon | 6:a51f4ac6f42b | 89 | //pc.printf("Right distance %d\r\n", rdist); |
wschon | 2:fcf6f5901ee6 | 90 | } |
wschon | 2:fcf6f5901ee6 | 91 | } |
wschon | 2:fcf6f5901ee6 | 92 | |
wschon | 2:fcf6f5901ee6 | 93 | void front_thread(void const *args) { |
wschon | 2:fcf6f5901ee6 | 94 | while (1) { |
wschon | 6:a51f4ac6f42b | 95 | frontDist = infraredF * 80.0f; |
wschon | 6:a51f4ac6f42b | 96 | frontDist = 80.0f - frontDist; |
wschon | 6:a51f4ac6f42b | 97 | fdist = (int)frontDist; |
wschon | 2:fcf6f5901ee6 | 98 | Thread::wait(500); //wait 1/2 second before updating |
wschon | 6:a51f4ac6f42b | 99 | pc.printf("Front distance %d\r\n", fdist); |
wschon | 2:fcf6f5901ee6 | 100 | } |
wschon | 2:fcf6f5901ee6 | 101 | } |
wschon | 0:8e17f11689f2 | 102 | |
wschon | 0:8e17f11689f2 | 103 | int main() { |
swilkins8 | 1:27c32ba9fe93 | 104 | //Test |
wschon | 6:a51f4ac6f42b | 105 | t.begin(); |
wschon | 2:fcf6f5901ee6 | 106 | Thread left(left_thread); |
wschon | 2:fcf6f5901ee6 | 107 | Thread right(right_thread); |
wschon | 2:fcf6f5901ee6 | 108 | Thread front(front_thread); |
wschon | 6:a51f4ac6f42b | 109 | Thread IMU(IMU_thread); |
wschon | 0:8e17f11689f2 | 110 | while(1) { |
wschon | 2:fcf6f5901ee6 | 111 | |
wschon | 0:8e17f11689f2 | 112 | } |
wschon | 0:8e17f11689f2 | 113 | } |