Hang Liu
Dependencies: ESP8266Interface MPU6050 PID StepperMotor WebSocketClient mbed
Fork of
irys
by 
Kamil Foryszewski
Revision 0:af77f3d24e4a, committed 2016-11-03
- Comitter:
- kfforex
- Date:
- Thu Nov 03 17:17:32 2016 +0000
- Child:
- 1:ac613232f130
- Commit message:
- before publish
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ESP8266Interface.lib Thu Nov 03 17:17:32 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/ESP8266/code/ESP8266Interface/#03fd9333670d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Thu Nov 03 17:17:32 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/kfforex/code/MPU6050/#e4e02c9c1381
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.lib Thu Nov 03 17:17:32 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/kfforex/code/PID/#0ffb635770b3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/StepperMotor.lib Thu Nov 03 17:17:32 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/kfforex/code/StepperMotor/#6fbe104c6f37
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/WebSocketClient.lib Thu Nov 03 17:17:32 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/samux/code/WebSocketClient/#4567996414a5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Nov 03 17:17:32 2016 +0000
@@ -0,0 +1,120 @@
+#include "mbed.h"
+#include "math.h"
+#include "Stepper.h"
+#include "MPU6050.h"
+#include "PID.h"
+#include "ESP8266Interface.h"
+#include "TCPSocketConnection.h"
+#include "TCPSocketServer.h"
+#include "Websocket.h"
+
+//------------------------------------
+// Terminal configuration
+// 9600 bauds, 8-bit data, no parity
+//------------------------------------
+// PINOUT DESCRIPTION
+// MOTORS OUTPUT
+// LEFT: EN-A1 STEP-A0 DIR-D13
+// RIGHT: EN-D12 STEP-D11 DIR-D10
+//
+// IMU MPU MPU6050
+// SDA-D4 SCL-D5
+//
+// DISTANCE SENSORS
+// D6, D3
+// D6 - temporary ESP8266 RESET
+//
+// ESP8266 WIFI MODULE
+// TX-D1 RX-D2 EN-D7
+//
+// WS2812B LED
+// D2 - digital output
+// -----------------------------------
+
+//To Do
+//2 REGULATORS
+
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+stepper left(A1,A0,D13);
+stepper right(D12,D11,D10);
+DigitalOut led1(LED1);
+DigitalOut wifiEnable(D7,1);
+AnalogIn shfront(D3);
+MPU6050 imu;
+Ticker loop;
+PID controll(120.0,0.004,0.0007,0.01);
+ESP8266Interface wifi(D1,D0,D6,"WLAN_Staszic","st@szicwifi5",115200);
+
+int i;
+float pitch;
+float roll;
+float frontdistance;
+double speed;
+char str[10];
+
+
+void pid_thread() {
+
+ imu.complementaryFilter(&pitch, &roll);
+ controll.setProcessValue(pitch);
+ speed = controll.compute();
+ left.step(speed);
+ right.step(-speed);
+}
+
+
+int main() {
+
+ left.disable();
+ right.disable();
+
+ imu.init();
+ imu.calibrate(&pitch,&roll);
+
+ //wifi.init(); //Reset
+ //wifi.connect(); //Use DHCP
+
+ //Websocket ws("ws://192.168.0.103:1234/ws");
+
+ //Check for successful socket connection
+ //if(!ws.connect())ws.close();
+ //else{
+
+ left.enable();
+ right.enable(); //wstawaine
+
+ //left.step(3000);
+ //right.step(-3000);
+ wait(1);
+ wait(1);
+ wait(1);
+ left.step(-3000);
+ right.step(3000);
+ wait(0.7);
+
+ loop.attach_us(pid_thread,10000);
+ controll.setSetPoint(-14.1);
+
+ while(1) {
+ // string with a message
+ //sprintf(str,"%f",pitch);
+ //ws.send(str);
+
+ //memset(str,0,10);
+ //wait(0.5);
+ //if (ws.read(str)) {
+ // printf("rcv'd: %s\n\r", str);
+ //}
+ }
+
+ //}
+ //ws.close();
+
+}
+
+
+
+
+
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 03 17:17:32 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/f141b2784e32 \ No newline at end of file