Mired in code
Check-in [a6c9466454]
Not logged in
Public Repositories
mwm's Repositories

Many hyperlinks are disabled.
Use anonymous login to enable hyperlinks.

Overview
Comment:Add the FloatController code.
Timelines: family | ancestors | descendants | both | trunk
Files: files | file ages | folders
SHA1:a6c94664544d0a808fdfab574e262662ef4ba042
User & Date: mwm 2015-08-26 12:39:01
Context
2015-08-26
13:00
Turn on serial debugging. check-in: 322fc62d8f user: mwm tags: trunk
12:39
Add the FloatController code. check-in: a6c9466454 user: mwm tags: trunk
2015-04-18
02:06
Add the maze program. check-in: dcabad86a6 user: mwm tags: trunk
Changes
Hide Diffs Unified Diffs Ignore Whitespace Patch

Added Arduino/FloatController/FloatController.ino.









































































































































































































































































































































































































































































>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Modified 2015 as initial version of FloatController by Mike Meyer <mwm@mired.org>
//

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Copyright (c) 2015 Mike Meyer

===============================================
*/

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include <Wire.h>
#endif

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high


#define LED_PIN 13  // We turn the LED on if everything is OK, off otherwise
#define ROLL_PIN 5  // PWM output for roll value

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector


// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;
}


// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // Set up the output pins.
    pinMode(LED_PIN, OUTPUT);
    pinMode(ROLL_PIN, OUTPUT);

#ifdef	SERIAL_DEBUG
    // initialize serial communication
    Serial.begin(115200);
    while (!Serial); // wait for Leonardo enumeration, others continue immediately
#endif

    // initialize device
#ifdef	SERIAL_DEBUG
    Serial.println(F("Initializing I2C devices..."));
#endif
    mpu.initialize();

    // verify connection
#ifdef	SERIAL_DEBUG
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
#else
    mpu.testConnection();
#endif

    // wait for ready
#ifdef	SERIAL_DEBUG
    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    while (Serial.available() && Serial.read()); // empty buffer
    while (!Serial.available());                 // wait for data
    while (Serial.available() && Serial.read()); // empty buffer again

    // load and configure the DMPf
    Serial.println(F("Initializing DMP..."));
#endif
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(120);
    mpu.setYGyroOffset(-25);
    mpu.setZGyroOffset(16);
    mpu.setXAccelOffset(-6791);
    mpu.setYAccelOffset(777);
    mpu.setZAccelOffset(755); // 1688 factory default for my test chip
// for my one MU6050, XAccelOffset = -7039(?), YAccelOffset = 806

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
#ifdef	SERIAL_DEBUG
        Serial.println(F("Enabling DMP..."));
#endif
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
#ifdef	SERIAL_DEBUG
        Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
#endif
        attachInterrupt(0, dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
#ifdef	SERIAL_DEBUG
        Serial.println(F("DMP ready! Waiting for first interrupt..."));
#endif
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
        digitalWrite(LED_PIN, HIGH);
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
#ifdef	SERIAL_DEBUG
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
#endif
        digitalWrite(LED_PIN, LOW);
    }
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {
    // if programming failed, don't try to do anything
    if (!dmpReady) return;

    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {
        // other program behavior stuff here
        // .
        // .
        // .
        // if you are really paranoid you can frequently test in between other
        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
        // while() loop to immediately process the MPU data
        // .
        // .
        // .
    }

    // reset interrupt flag and get INT_STATUS byte
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
#ifdef	SERIAL_DEBUG
        Serial.println(F("FIFO overflow!"));
#endif

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & 0x02) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        
        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

        // get mpu values
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

        // Write roll value, from 0 to 255 for 0 to 90°
        analogWrite(ROLL_PIN, min(abs(ypr[1]) * 510 / M_PI, 1023));
#ifdef	SERIAL_DEBUG
        Serial.print("ypr\t");
        /* Serial.print(ypr[0] * 180/M_PI); */
        /* Serial.print("\t"); */
        // display Euler angles in degrees
        Serial.print(ypr[1] * 180/M_PI);
        Serial.print("\t");
        Serial.println(min(abs(ypr[1]) * 510 / M_PI, 1023));
        /* Serial.println(ypr[2] * 180/M_PI); */
#endif
    }
}

Added Arduino/FloatController/LICENSE.



































>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

Added Arduino/FloatController/Makefile.







>
>
>
1
2
3
ARDUINO_LIBS = I2Cdev MPU6050 Wire Wire/utility

include ../Makefile

Added Arduino/Makefile.



















>
>
>
>
>
>
>
>
>
1
2
3
4
5
6
7
8
9
ARDMK_DIR=/usr/local/arduino-mk
ARDUINO_DIR=/usr/local/arduino
ARDUINO_PORT=/dev/ttyU?
ifndef BOARD_TAG
BOARD_TAG=uno
endif

include $(ARDMK_DIR)/Arduino.mk