Yuxiang Yang
/
ros_openroach
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: MPU6050IMU QEI RPCInterface TSL1401CL mbed-src
Fork of
mbed_zumy_rpc
by 
Austin Buchan
Revision 0:966d81803039, committed 2016-05-31
- Comitter:
- abuchan
- Date:
- Tue May 31 16:37:13 2016 +0000
- Child:
- 1:7b8696baf8ff
- Commit message:
- Publishing for Biomimetics.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050IMU.lib Tue May 31 16:37:13 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/abuchan/code/MPU6050IMU/#359efdec694f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Tue May 31 16:37:13 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RPCInterface.lib Tue May 31 16:37:13 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/abuchan/code/RPCInterface/#1b85f3d0fae9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue May 31 16:37:13 2016 +0000
@@ -0,0 +1,89 @@
+#include "mbed.h"
+#include "SerialRPCInterface.h"
+#include "MPU6050.h"
+#include "QEI.h"
+
+SerialRPCInterface SerialRPC(USBTX, USBRX, 115200);
+
+float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z;
+int r_enc, l_enc;
+
+RPCVariable<float> rpc_accel_x(&accel_x, "accel_x");
+RPCVariable<float> rpc_accel_y(&accel_y, "accel_y");
+RPCVariable<float> rpc_accel_z(&accel_z, "accel_z");
+RPCVariable<float> rpc_gryo_x(&gyro_x, "gyro_x");
+RPCVariable<float> rpc_gryo_y(&gyro_y, "gyro_y");
+RPCVariable<float> rpc_gryo_z(&gyro_z, "gyro_z");
+RPCVariable<int> rpc_r_enc(&r_enc, "r_enc");
+RPCVariable<int> rpc_l_enc(&l_enc, "l_enc");
+QEI l_wheel (p29, p30, NC, 624);
+QEI r_wheel (p11, p12, NC, 624);
+
+MPU6050 mpu6050;
+
+DigitalOut init_done(LED1);
+DigitalOut imu_good(LED2);
+DigitalOut main_loop(LED3);
+
+int main() {
+ init_done = 0;
+ imu_good = 0;
+ main_loop = 0;
+
+ //Set up I2C
+ i2c.frequency(400000); // use fast (400 kHz) I2C
+
+ volatile bool imu_ready = false;
+
+ wait_ms(100);
+
+ uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
+
+ if (whoami == 0x68) // WHO_AM_I should always be 0x68
+ {
+ mpu6050.MPU6050SelfTest(SelfTest);
+ if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
+ mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
+ mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+ mpu6050.initMPU6050();
+ mpu6050.getAres();
+ mpu6050.getGres();
+ imu_ready = true;
+ imu_good = 1;
+ }
+ }
+
+ init_done = 1;
+ uint8_t loop_count = 10;
+ while(1) {
+ wait_ms(10);
+
+ // Handle the encoders
+ r_enc=r_wheel.getPulses();
+ l_enc=l_wheel.getPulses();
+ //pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc);
+
+ if (!(--loop_count)) {
+ loop_count = 10;
+ main_loop = !main_loop;
+ }
+
+ if (imu_ready) {
+
+ if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
+ mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
+ mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
+
+ // Now we'll calculate the accleration value into actual g's
+ accel_x = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
+ accel_y = (float)accelCount[1]*aRes - accelBias[1];
+ accel_z = (float)accelCount[2]*aRes - accelBias[2];
+
+ // Calculate the gyro value into actual degrees per second
+ gyro_x = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
+ gyro_y = (float)gyroCount[1]*gRes - gyroBias[1];
+ gyro_z = (float)gyroCount[2]*gRes - gyroBias[2];
+ }
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-src.lib Tue May 31 16:37:13 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-src/#a11c0372f0ba