David McPherson / Mbed 2 deprecated zumy_mbed

Experimental Zumy code for interfacing with encoders (as well as IMU as in abuchan's code base).

Dependencies:   MPU6050IMU QEI RPCInterface mbed

Fork of zumy_mbed by Austin Buchan

main.cpp@4:b8eeb59b62d4, 2015-11-24 (annotated)

Committer:
DavidMcP555
Date:
Tue Nov 24 19:53:03 2015 +0000
Revision:
4:b8eeb59b62d4
Parent:
3:8b5700499eb8 
Added encoder support for reading and communication to Zumy ROS through RPC

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MichaelW 0:78952cd3935b 1 #include "mbed.h"
abuchan 3:8b5700499eb8 2 #include "SerialRPCInterface.h"
abuchan 2:2c0cd1aaae83 3 #include "MPU6050.h"
DavidMcP555 4:b8eeb59b62d4 4 #include "QEI.h"
abuchan 2:2c0cd1aaae83 5
abuchan 3:8b5700499eb8 6 SerialRPCInterface SerialRPC(USBTX, USBRX, 115200);
DavidMcP555 4:b8eeb59b62d4 7 //Serial pc(USBTX, USBRX); // tx, rx
abuchan 3:8b5700499eb8 8
abuchan 3:8b5700499eb8 9 float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z;
DavidMcP555 4:b8eeb59b62d4 10 int r_enc, l_enc;
abuchan 2:2c0cd1aaae83 11
abuchan 3:8b5700499eb8 12 RPCVariable<float> rpc_accel_x(&accel_x, "accel_x");
abuchan 3:8b5700499eb8 13 RPCVariable<float> rpc_accel_y(&accel_y, "accel_y");
abuchan 3:8b5700499eb8 14 RPCVariable<float> rpc_accel_z(&accel_z, "accel_z");
abuchan 3:8b5700499eb8 15 RPCVariable<float> rpc_gryo_x(&gyro_x, "gyro_x");
abuchan 3:8b5700499eb8 16 RPCVariable<float> rpc_gryo_y(&gyro_y, "gyro_y");
abuchan 3:8b5700499eb8 17 RPCVariable<float> rpc_gryo_z(&gyro_z, "gyro_z");
DavidMcP555 4:b8eeb59b62d4 18 RPCVariable<int> rpc_r_enc(&r_enc, "r_enc");
DavidMcP555 4:b8eeb59b62d4 19 RPCVariable<int> rpc_l_enc(&l_enc, "l_enc");
DavidMcP555 4:b8eeb59b62d4 20 QEI l_wheel (p29, p30, NC, 624);
DavidMcP555 4:b8eeb59b62d4 21 QEI r_wheel (p11, p12, NC, 624);
abuchan 2:2c0cd1aaae83 22
abuchan 2:2c0cd1aaae83 23 MPU6050 mpu6050;
abuchan 2:2c0cd1aaae83 24
abuchan 2:2c0cd1aaae83 25 DigitalOut init_done(LED1);
abuchan 2:2c0cd1aaae83 26 DigitalOut imu_good(LED2);
abuchan 2:2c0cd1aaae83 27 DigitalOut main_loop(LED3);
abuchan 2:2c0cd1aaae83 28
MichaelW 0:78952cd3935b 29 int main() {
abuchan 2:2c0cd1aaae83 30 init_done = 0;
abuchan 2:2c0cd1aaae83 31 imu_good = 0;
abuchan 2:2c0cd1aaae83 32 main_loop = 0;
abuchan 2:2c0cd1aaae83 33
abuchan 2:2c0cd1aaae83 34 //Set up I2C
abuchan 2:2c0cd1aaae83 35 i2c.frequency(400000); // use fast (400 kHz) I2C
abuchan 2:2c0cd1aaae83 36
abuchan 3:8b5700499eb8 37 volatile bool imu_ready = false;
abuchan 3:8b5700499eb8 38
abuchan 3:8b5700499eb8 39 wait_ms(100);
abuchan 2:2c0cd1aaae83 40
abuchan 2:2c0cd1aaae83 41 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
abuchan 2:2c0cd1aaae83 42
abuchan 2:2c0cd1aaae83 43 if (whoami == 0x68) // WHO_AM_I should always be 0x68
abuchan 2:2c0cd1aaae83 44 {
abuchan 2:2c0cd1aaae83 45 mpu6050.MPU6050SelfTest(SelfTest);
abuchan 2:2c0cd1aaae83 46 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) {
abuchan 2:2c0cd1aaae83 47 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
abuchan 2:2c0cd1aaae83 48 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
abuchan 2:2c0cd1aaae83 49 mpu6050.initMPU6050();
abuchan 2:2c0cd1aaae83 50 mpu6050.getAres();
abuchan 2:2c0cd1aaae83 51 mpu6050.getGres();
abuchan 2:2c0cd1aaae83 52 imu_ready = true;
abuchan 2:2c0cd1aaae83 53 imu_good = 1;
abuchan 2:2c0cd1aaae83 54 }
abuchan 2:2c0cd1aaae83 55 }
abuchan 2:2c0cd1aaae83 56
abuchan 2:2c0cd1aaae83 57 init_done = 1;
abuchan 3:8b5700499eb8 58 uint8_t loop_count = 10;
MichaelW 0:78952cd3935b 59 while(1) {
abuchan 3:8b5700499eb8 60 wait_ms(10);
abuchan 2:2c0cd1aaae83 61
DavidMcP555 4:b8eeb59b62d4 62 // Handle the encoders
DavidMcP555 4:b8eeb59b62d4 63 r_enc=r_wheel.getPulses();
DavidMcP555 4:b8eeb59b62d4 64 l_enc=l_wheel.getPulses();
DavidMcP555 4:b8eeb59b62d4 65 //pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc);
DavidMcP555 4:b8eeb59b62d4 66
abuchan 3:8b5700499eb8 67 if (!(--loop_count)) {
abuchan 3:8b5700499eb8 68 loop_count = 10;
abuchan 3:8b5700499eb8 69 main_loop = !main_loop;
abuchan 3:8b5700499eb8 70 }
abuchan 2:2c0cd1aaae83 71
abuchan 3:8b5700499eb8 72 if (imu_ready) {
abuchan 2:2c0cd1aaae83 73
abuchan 2:2c0cd1aaae83 74 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
abuchan 2:2c0cd1aaae83 75 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
abuchan 2:2c0cd1aaae83 76 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
abuchan 2:2c0cd1aaae83 77
abuchan 2:2c0cd1aaae83 78 // Now we'll calculate the accleration value into actual g's
abuchan 3:8b5700499eb8 79 accel_x = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
abuchan 3:8b5700499eb8 80 accel_y = (float)accelCount[1]*aRes - accelBias[1];
abuchan 3:8b5700499eb8 81 accel_z = (float)accelCount[2]*aRes - accelBias[2];
abuchan 2:2c0cd1aaae83 82
abuchan 2:2c0cd1aaae83 83 // Calculate the gyro value into actual degrees per second
abuchan 3:8b5700499eb8 84 gyro_x = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
abuchan 3:8b5700499eb8 85 gyro_y = (float)gyroCount[1]*gRes - gyroBias[1];
abuchan 3:8b5700499eb8 86 gyro_z = (float)gyroCount[2]*gRes - gyroBias[2];
abuchan 2:2c0cd1aaae83 87 }
abuchan 2:2c0cd1aaae83 88 }
MichaelW 0:78952cd3935b 89 }
MichaelW 0:78952cd3935b 90 }