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Robot.c
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Robot.c
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#include <wiringPiI2C.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <sys/time.h>
#include <string.h>
// PID parameters
double Kp = 4.0; //8.0
double Ki = 1.2/4.0; //3.0
double Kd = 15.0*2.0; //10.0
double K = 1.0;
//double K = 1.9*1.12;
// Complimentary Filter parameters
double K0 = (double) 0.98;
double K1 = (double) 0.02;
int fd;
int acclX, acclY, acclZ;
int gyroX, gyroY, gyroZ;
double accl_scaled_x, accl_scaled_y, accl_scaled_z;
double gyro_scaled_x, gyro_scaled_y, gyro_scaled_z;
double gyro_offset_x, gyro_offset_y;
double gyro_total_x, gyro_total_y;
double gyro_x_delta, gyro_y_delta;
double rotation_x, rotation_y;
double last_x, last_y;
struct timeval tv, tv2;
unsigned long long timer, t;
double deltaT;
int read_word_2c(int addr)
{
int val;
val = wiringPiI2CReadReg8(fd, addr);
val = val << 8;
val += wiringPiI2CReadReg8(fd, addr+1);
if (val >= 0x8000)
val = -(65536 - val);
return val;
}
double dist(double a, double b)
{
return sqrt((a*a) + (b*b));
}
double get_y_rotation(double x, double y, double z)
{
double radians;
radians = atan2(x, dist(y, z));
return -(radians * (180.0 / M_PI));
}
double get_x_rotation(double x, double y, double z)
{
double radians;
radians = atan2(y, dist(x, z));
return (radians * (180.0 / M_PI));
}
void read_all()
{
acclX = read_word_2c(0x3B);
acclY = read_word_2c(0x3D);
acclZ = read_word_2c(0x3F);
accl_scaled_x = acclX / 16384.0;
accl_scaled_y = acclY / 16384.0;
accl_scaled_z = acclZ / 16384.0;
gyroX = read_word_2c(0x43);
gyroY = read_word_2c(0x45);
gyroZ = read_word_2c(0x47);
gyro_scaled_x = gyroX / 131.0;
gyro_scaled_y = gyroY / 131.0;
gyro_scaled_z = gyroZ / 131.0;
}
unsigned long long getTimestamp()
{
gettimeofday(&tv, NULL);
return (unsigned long long) tv.tv_sec * 1000000 + tv.tv_usec;
}
double constrain(double v, double min_v, double max_v)
{
if (v <= min_v)
return (double)min_v;
else if (v >= max_v)
return (double)max_v;
else
return (double)v;
}
double error, last_error, integrated_error;
double pTerm, iTerm, dTerm;
double angle;
double angle_offset = 0.0;
double speed;
double left_offset = 0.0;
double right_offset = 0.0;
double forward_offset = 0.0;
void pid()
{
error = last_y + angle_offset - forward_offset;
pTerm = Kp * error;
integrated_error = 0.98*integrated_error + error;
iTerm = Ki * integrated_error;
//iTerm = Ki * constrain(integrated_error, -GUARD_GAIN, GUARD_GAIN);
dTerm = Kd * (error - last_error);
last_error = error;
speed = constrain(K*(pTerm + iTerm + dTerm), -100.0, +100.0);
}
int fd_bt;
char buf[1024];
char BT_DEV[] = "/dev/ttyAMA0";
void init_bt()
{
if ((fd_bt = open(BT_DEV, O_RDWR | O_NONBLOCK)) == -1)
{
//printf("NonBlocking device %s open failed!! \n", BT_DEV);
exit(EXIT_FAILURE);
}
else
{
//printf("NonBlocking device %s open OK!! \n", BT_DEV);
}
}
#define CMD_START 1
#define CMD_STOP 2
#define CMD_FORWARD 3
#define CMD_BACKWARD 4
int wait_for_start()
{
while(1) {
if (read(fd_bt, buf, 1024) != -1)
{
//printf("%s(%d)\n", buf, strlen(buf));
if (strncmp(buf, "START", 5) == 0) {
//printf("MATCHED START\n");
return 1;
}
}
}
}
int check_for_cmd()
{
if (read(fd_bt, buf, 1024) != -1)
{
// printf("%s(%d)\n", buf, strlen(buf));
// if (strncmp(buf, "START", 5) == 0)
// printf("MATCHED START\n");
if (strncmp(buf, "STOP", 4) == 0) {
// printf("MATCHED STOP\n");
return CMD_STOP;
}
if (strncmp(buf, "LEFT_TOUCHDOWN", 14) == 0) {
right_offset = 10.0;
left_offset = -10.0;
}
if (strncmp(buf, "LEFT_TOUCHUP", 12) == 0) {
right_offset = 0.0;
left_offset = 0.0;
}
if (strncmp(buf, "RIGHT_TOUCHDOWN", 15) == 0) {
right_offset = -10.0;
left_offset = 10.0;
}
if (strncmp(buf, "RIGHT_TOUCHUP", 13) == 0) {
right_offset = 0.0;
left_offset = 0.0;
}
if (strncmp(buf, "FORWARD_TOUCHDOWN", 17) == 0) {
// printf("MATCHED FORWARD_TOUCHDOWN\n");
forward_offset = 5.0;
}
if (strncmp(buf, "FORWARD_TOUCHUP", 15) == 0) {
// printf("MATCHED FORWARD_TOUCHUP\n");
forward_offset = 0.0;
}
if (strncmp(buf, "BACKWARD_TOUCHDOWN", 18) == 0) {
// printf("MATCHED BACKWARD_TOUCHDOWN\n");
forward_offset = -5.0;
}
if (strncmp(buf, "BACKWARD_TOUCHUP", 16) == 0) {
// printf("MATCHED BACKWARD_TOUCHUP\n");
forward_offset = 0.0;
}
}
return 0;
}
int main()
{
init_bt();
init_point:
init_motors();
delay(5);
integrated_error = 0.0;
last_error = 0.0;
// wait for START
wait_for_start();
fd = wiringPiI2CSetup (0x68);
wiringPiI2CWriteReg8 (fd,0x6B,0x00);//disable sleep mode
timer = getTimestamp();
deltaT = (double) (getTimestamp() - timer)/1000000.0;
read_all();
last_x = get_x_rotation(accl_scaled_x, accl_scaled_y, accl_scaled_z);
last_y = get_y_rotation(accl_scaled_x, accl_scaled_y, accl_scaled_z);
gyro_offset_x = gyro_scaled_x;
gyro_offset_y = gyro_scaled_y;
gyro_total_x = last_x - gyro_offset_x;
gyro_total_y = last_y - gyro_offset_y;
while(1) {
t = getTimestamp();
deltaT = (double) (t - timer)/1000000.0;
timer = t;
read_all();
gyro_scaled_x -= gyro_offset_x;
gyro_scaled_y -= gyro_offset_y;
gyro_x_delta = (gyro_scaled_x * deltaT);
gyro_y_delta = (gyro_scaled_y * deltaT);
gyro_total_x += gyro_x_delta;
gyro_total_y += gyro_y_delta;
rotation_x = get_x_rotation(accl_scaled_x, accl_scaled_y, accl_scaled_z);
rotation_y = get_y_rotation(accl_scaled_x, accl_scaled_y, accl_scaled_z);
last_x = K0 * (last_x + gyro_x_delta) + (K1 * rotation_x);
last_y = K0 * (last_y + gyro_y_delta) + (K1 * rotation_y);
if (last_y < -45.0 || last_y > 45.0) {
stop_motors();
break;
}
pid();
motors(speed, left_offset, right_offset);
if (check_for_cmd() == CMD_STOP) {
stop_motors();
//break;
goto init_point;
}
//delay(10);
}
stop_motors();
goto init_point;
//return 0;
}