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acrobat.c
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acrobat.c
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/*
* Acrobat_V1.c
*
* Created: 2012/10/27 11:06:36
* Author: Edward and Mike L
*/
//##########################################################################
// this is the third version of our code, with comments
// this code is modified last by Michael on 11/02/2012 Wed.
// this code is compiled last on
// Any one who will modify this code please mark all the code added
// and write something here to make every body know.
// Please describe all the function you added
// The functions that already exist are:
// void TimerSetup(void); initialize the timer
// void systemInitial(void); initialize some function of the system
// int main(void); the main function
// ISR(TIMER3_COMPA_vect) periodical interrupt
//##########################################################################
#include "m_general.h"
#include "m_usb.h"
#include "wireless.h"
#include "Balance_Kalman.h"
/****************************************************************************
System Configuration
****************************************************************************/
//constant about period interrupt
#define PERIOD 5 //ms period1 which
#define PERIOD2 100 //ms
#define PERIOD3 10 //ms
#define INTERRUPT10MS PERIOD3/PERIOD-1
#define INTERRUPT1S PERIOD2/PERIOD-1
//constant about dealing output data of the sensor
#define ACOFFSET 42
#define GYOFFSET -30
//parameter about kalman complementary
#define ACCPART 1
#define GYRPART 2-ACCPART
//Initial value of PID
#define KPINI 1000
#define KIINI 0
#define KDINI 5000
/****************************************************************************
Global Variables
****************************************************************************/
volatile int Timer3Flag=0;
volatile int Timer3Flag2=0;
volatile int Timer3Flag3=0;
volatile int ConvertFinishFlag=0;
volatile char buffer[packLength]={0};
volatile int EncoderCount=0;
/****************************************************************************
========================= functions ================================
****************************************************************************/
void TimerSetup(void); //initialize the timer
void systemInitial(void); //initialize some function of the syste
int main(void); //the main function
void transmitEdsCode(void); //Use Ed's terminal interface
//==========================================================================
int main(void) {
//original data
int Data[9]={0};
int RealinputACC = 0;
int RealinputGyr = 0;
//variables of flags
int switchNum = 0;
int paraDeter = 0;
//temporary variables for test
int tmp=0;
int getValue=0;
//variables for PID control
int output;
int angleHis1=0,angleHis2=0;
int inputK=0,inputI=0,inputD=0;
int Output=0;
int OutputHis1=2000;
int OutputHis2=2000;
int KpIni=KPINI,KiIni=KIINI,KdIni=KDINI;
float Kp = 1;
float Ki = 0;
float Kd = 0.5;
int AngleCali = 0;
int AngleActual=0;
systemInitial();
// send back comfirm information to prove that wireless has been connected
wireless_string(haha,5);
wireless_char('\n');
clear(DDRB,0);
clear(PORTB,0);
// using wireless to change parameters of PID controller, and if DIP switch 1 is ON, this can be skipped
if (!check(PINB,0)) {
transmitEdsCode();
}
m_green(OFF);
// Initializing IMU
while(!m_imu_init(1,0));
int AngleHis=0;
// calibrate the balance angle value, the code here is trying to find out offset of the angle
for (int numpoint=0;numpoint<499;numpoint++)
{
if(m_imu_raw(Data))
{
RealinputACC = ACCPART*(Data[1]-ACOFFSET);
RealinputGyr = GYRPART*(GYOFFSET-Data[3]);
Kalman_Filter(RealinputACC,RealinputGyr);
}
AngleHis+=angle;
}
AngleCali = AngleHis/500;
// Enable timer interrupt and global interrupt
set(TIMSK3 , OCIE3A);
set(PCICR,0);
set(PCMSK0,5);
// set(PCMSK0,4);
sei();
while(1)
{
if (Timer3Flag==1){ //Here is the control loop, all the data sample process and output should be here
cli();
// read data from IMU
if(m_imu_raw(Data)) {
m_red(TOGGLE);
}
// make the input value get rid of the offset
RealinputACC = ACCPART*(Data[1]-ACOFFSET); //The acceleration input without offset
RealinputGyr = GYRPART*(Data[3]-GYOFFSET); //The anglar velocity input without offset
Kalman_Filter(RealinputACC,RealinputGyr); //Using the Kalman Filter to get the reliable output of the angle
// read the changed parameter, because the wireless cannot send float, so change it to float here
Kp = (float)KpIni/1000;
Ki = (float)KiIni/1000;
Kd = (float)KdIni/1000;
// calibrate the angle value by using the balance offset of the angle
AngleActual = angle-AngleCali;
inputK = AngleActual-angleHis1;
inputI +=AngleActual;
// PID controller, which you will find that Ki always be zero
Output = Kp*AngleActual + Ki*inputI + Kd*inputK;
// dead region, which means the value in this region won't give the wheels a speed, so remove it from output to make the output speed linear with the input angle
if (AngleActual>0) {
OutputHis1 =1823-Output;
}
if (AngleActual<0) {
OutputHis1 =2193-Output;
}
if (AngleActual==0) {
if (angleHis1>0) {
OutputHis1 =1823;
}
if (angleHis1<0) {
OutputHis1 =2193;
}
if (angleHis1=0){
OutputHis1 =OutputHis1;
}
}
if (AngleActual>0)
OutputHis2 =1857-Output;
if (AngleActual<0)
OutputHis2 =2148-Output;
if (AngleActual==0) {
if (angleHis1>0)
OutputHis2 =1857;
if (angleHis1<0)
OutputHis2 =2148;
if (angleHis1=0)
OutputHis2 =OutputHis2;
}
// Try to check whether the output value in the limitation
if (OutputHis1>4000) //Detect the limitation of the output value
{
OutputHis1=4000;
}else{
if (OutputHis1<3)
{
OutputHis1=3;
}
}
if (OutputHis2>4000){ //Detect the limitation of the output value
OutputHis2=4000;
}else{
if (OutputHis2<3) {
OutputHis2=3;
}
}
// set the output duty cycle
OCR1B = OutputHis1; // for B6
OCR1C = OutputHis2; // for B7
angleHis2 = angleHis1; //record value of the angle which will be used in D
angleHis1 = AngleActual;//record value of the angle which will be used in D
Timer3Flag=0;
sei();
}
//*****************************************************************
// Because the holes on our encoder are few, so in the 5 ms period it
// probably won't get any data. So my advice is to write the code for
// encoder here, which period is 100ms, then we may get some points,
// or if we like we can use flag3 and set it to 1000ms to get more
// points, 1s is enough short to get precise position
//*****************************************************************
//condition used to send the wireless data or usb data,
// because the frequency here is below 10Hz
if (Timer3Flag2==INTERRUPT1S) {
cli();
tmp = angle;
// send back value from IMU of acceleration of Y
wireless_int(RealinputACC);
wireless_char('\t');
// send back value from IMU of anglar speed around X
wireless_int(RealinputGyr);
wireless_char('\t');
wireless_int(AngleActual); // send back the current angle value
wireless_char('\n');
m_green(TOGGLE);
Timer3Flag2=0;
sei();
}
}
}
void systemInitial(void){
m_clockdivide(0);
wirelessinitial();
TimerSetup();
}
void TimerSetup(void){
//Timer1 is used to generate the PWM
OCR1A = 4000;
OCR1B = 2000;
OCR1C = 2000;
set(DDRB,6);
set(DDRB,7);
TCCR1A = 0b00101011;
TCCR1B = 0b00011001;
//Timer3 is used to generate periodical interrupt
//The equation to calculate the period of interrupt wich determined by PERIOD
OCR3A = (int)(15625*((float)PERIOD/1000));
TCCR3A = 0b00000000;
TCCR3B = 0b00001101;// /1024
clear(TIMSK3 , OCIE3A);
// The setup for the input capture should be here
}
ISR(TIMER3_COMPA_vect) //ms interrupt
{
Timer3Flag = 1;
if (Timer3Flag2<INTERRUPT1S)
{
Timer3Flag2++;
}
//if (Timer3Flag3<INTERRUPT10MS)
//{
//Timer3Flag3++;
//}
}
ISR(PCINT0_vect){
EncoderCount++;
}
void transmitEdsCode(){
char haha[5]="Hello";
while(1) {
int success;
success = m_rf_read(buffer, packLength);
if ((success==1)&&(buffer[0]>=45)) {
m_green(ON);
ConvertFinishFlag=1;
}
else{
m_green(OFF);
}
if (ConvertFinishFlag==1) {
if (switchNum==0) {
// send back current value of parameter and determine which one should be changed
wireless_string(buffer,packLength);
wireless_char(':');
if ((buffer[0]=='k')&&(buffer[1]=='p')) {
paraDeter = 1;
wireless_int(KpIni);
}
if ((buffer[0]=='k')&&(buffer[1]=='i')) {
paraDeter = 2;
wireless_int(KiIni);
}
if ((buffer[0]=='k')&&(buffer[1]=='d')) {
paraDeter = 3;
wireless_int(KdIni);
}
m_wait(50);
wireless_char('\n');
switchNum++;
}else{
// change the parameter, and if the input is not a value, it will send back "SayAgain" and wait untill the input is a value
getValue = atoi(buffer);
if ((getValue==0)&&(buffer[0]!='0')) {
char Sorry1[8] = "SayAgain";
wireless_string(Sorry1,8);
m_wait(50);
wireless_char('\n');
m_wait(50);
switchNum=1;
}else{
wireless_string(buffer,packLength);
m_wait(50);
wireless_char('\n');
m_wait(50);
switchNum=0;
switch (paraDeter) {
case 1:KpIni=getValue;break;
case 2:KiIni=getValue;break;
case 3:KdIni=getValue;break;
}
}
}
// when the input is "start", the robot will start
if ((buffer[0]=='s')
&&(buffer[1]=='t')
&&(buffer[2]=='a')
&&(buffer[3]=='r')
&&(buffer[4]=='t')) {
break;
}
ConvertFinishFlag=0;
memset(buffer,0,packLength);
m_wait(100);
}
}
}