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//copyright by kaiser 20140521 V1.0
/////////////////////////////////////////////////////////////////////////////////////////////////////
#include "Wire.h" //serial
#include "I2Cdev.h" //IIC
#include "MPU6050.h" //acc&gyro Sensor
//Define Variables we'll be connecting to
char val='s';int Speed_need=0;int Turn_need=0;
float speeds,speeds_filter, positions;
float diff_speeds,diff_speeds_all;
////////////////////PID parameter///////////////////////////////////////
double Output=0;
float Kp=10,Kd=0.06,Ksp = 2.8,Ksi = 0.11; //
////////////////////////////////////////////////
MPU6050 accelgyro;
int16_t ax, ay, az;
int16_t gx, gy, gz;
/********************角度參數(shù)**************/
float Gyro_y; //Y軸陀螺儀數(shù)據(jù)暫存
float Angle_ax; //由加速度計(jì)算的傾斜角度
float Angle; //小車最終傾斜角度
//int Setpoint=0;
////////////////////////////////////////Pin assignment///////////////////////////////////////
int PinA_right= 2; //interrupt 0
int PinA_left= 3; //interrupt 1
int E_left =6;//ENA
int M_right =7;
int M_right2=8;
int E_right =5; //ENB
int M_left =9;
int M_left2 =10;
//////////////////////////////////////////////////////////////////////////////
int PWM_right=0; int PWM_left=0;
int PWM_left_least=87; int PWM_right_least=88;//left:77,right:78
///////////////////////////////interrupt for Speed/////////////////////////////////
int count_right =0;
int count_left =0;
int old_time=0;
int flag;
void Code_right(){ if(Output>=0){count_right += 1;}else{count_right -= 1;} }//if only +,can't stand up 編碼器碼盤計(jì)數(shù)加一
void Code_left(){ if(Output>=0){count_left += 1;} else{count_left -= 1;}}// 編碼器碼盤計(jì)數(shù)加一
/////////////////////////Right&Left&Stop///////////////////////////////////////////////
void SetMotorVoltage(int nLeftVol, int nRightVol) {
if(nLeftVol >=0)
{ digitalWrite(M_left,LOW);
digitalWrite(M_left2,HIGH);
} else {
digitalWrite(M_left,HIGH);
digitalWrite(M_left2,LOW);
nLeftVol=-nLeftVol;
}
if(nRightVol >= 0) {
digitalWrite(M_right,LOW);
digitalWrite(M_right2,HIGH);
} else {
digitalWrite(M_right,HIGH);
digitalWrite(M_right2,LOW);
nRightVol=-nRightVol;
}
if(nLeftVol>255) { nLeftVol = 255 ; } //防止PWM值超過(guò)255
if(nRightVol>255) { nRightVol = 255 ; }//防止PWM值超過(guò)255
analogWrite(E_left,nLeftVol);
analogWrite(E_right,nRightVol);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void Angle_Calcu(void) {
Angle_ax = (ax+1942)/238.2 ; //去除零點(diǎn)偏移1942,//16384*3.14/1.2*180//弧度轉(zhuǎn)換為度,
Gyro_y = -(gy-119.58)/16.4; //去除零點(diǎn)偏移119,2000deg/s 16.4 LSB/(deg/s)250---131 ，負(fù)號(hào)為方向處理
//Serial.print("Angle_ax,Angle_gy");Serial.print(Angle_ax);Serial.println(Angle_gy);
Angle=0.97*(Angle+Gyro_y*0.0005)+0.03*Angle_ax;
//Kalman_Filter(Angle_ax,Gyro_y); //卡爾曼濾波計(jì)算傾角
}
void setup()
{
Wire.begin();
Serial.begin(9600);
///////////////////////////////////////////////////////////////////
accelgyro.reset();//reset
delay(1);
accelgyro.setClockSource(MPU6050_CLOCK_PLL_YGYRO);//PLL with Y Gyro reference*/
accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_2000);//0x1B Value 0x18 2000°/s
accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_4);//0x1C Value 0x18 16g
accelgyro.setDLPFMode(MPU6050_DLPF_BW_5);//0x06 means acc 5Hz delay19.0ms Gyro 5Hz delay 18.6ms
accelgyro.setTempSensorEnabled(true);//disable temsensor
accelgyro.setSleepEnabled(false);
Serial.println("Testing device connections...");
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
////////////////////////pin mode////////////////////////////////////////
pinMode(E_right, OUTPUT); pinMode(M_right, OUTPUT);pinMode(M_right2, OUTPUT); //right
pinMode(E_left, OUTPUT); pinMode(M_left, OUTPUT);pinMode(M_left2, OUTPUT); //left
pinMode(PinA_right,INPUT);pinMode(PinA_left,INPUT);// in 0 in 1
Serial.println("Pin mode ...");
/////////////////////////////interrupt/////////////////////////////////////////////
attachInterrupt(0, Code_right, FALLING);attachInterrupt(1, Code_left, FALLING);
}
void loop()
{
if (Serial.available() > 0){val = Serial.read();Serial.println(val);}
switch(val){
case 'a':Speed_need=30;Turn_need=0;positions=80;break;//Go
case 'b':Speed_need=10;Turn_need=-10;positions=10;break;//right
case 'c':Speed_need=10;Turn_need=10;positions=10;break;//left
case 'd':Speed_need=0;Turn_need=0;positions=0;break;
default:Speed_need=0;Turn_need=0;positions=0;break;}//stop
//Speed_need=30;Turn_need=0;positions=80;
//SetMotorVoltage(255,255);
//Kp=15,Kd=0.09,Ksp = 2.8,Ksi = 0.11;
//Serial.print("count_left");Serial.println(count_left);
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
Angle_Calcu();
//Serial.print("Angle");Serial.println(Angle);
PWM_Calcu();
//if(millis()-old_time>=500){ Serial.print("count_right");Serial.print(count_right);Serial.print("count_left");Serial.println(count_left);old_time=millis();count_right=0;count_left=0;}
}
void PWM_Calcu(void)
{
if (abs(Angle)>40)
{SetMotorVoltage(0,0);}//角度大于45度停止PWM輸出
else
{ //Speed_need=30;Turn_need=0;positions=80;
//////////////////////
speeds=(count_left + count_right)*0.5;
diff_speeds = count_left - count_right;
diff_speeds_all += diff_speeds;
speeds_filter *=0.85; //一階互補(bǔ)濾波
speeds_filter +=speeds*0.15;
positions += speeds_filter;
positions += Speed_need;
positions = constrain(positions, -2300, 2300);//抗積分飽和
////////////////////
Output=Kp*Angle+Kd*Gyro_y+ Ksp*speeds_filter + Ksi*positions ;
//Serial.print("Output");Serial.println(Output);
if(Turn_need==0){PWM_right=Output-diff_speeds_all;
PWM_left=Output+diff_speeds_all;}
PWM_right=Output+Turn_need;
PWM_left=Output-Turn_need;
if(PWM_right>=0){PWM_right+=PWM_right_least;}else{PWM_right-=PWM_right_least;}
if(PWM_left>=0){PWM_left+=PWM_left_least;}else{PWM_left-=PWM_left_least;}
SetMotorVoltage(PWM_left,PWM_right);}
count_left = 0;
count_right = 0;
}

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