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| used the 9DOF for stability of the robot in the picture |
#include "Wire.h"
//#include "MPU9150.h"
// 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"
//#include "MPU6050.h" // not necessary if using MotionApps include file
// 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
MPU6050 mpu;
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL
#define OUTPUT_READABLE_EULER
//#define OUTPUT_READABLE_REALACCEL
#define OUTPUT_READABLE_WORLDACCEL
// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT
// 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
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3];// [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
int yaw=0;
int pitch=0;
int roll=0;
int accX=0;
int accY=0;
int accZ=0;
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
//*******************#include "MPU9150.h"
#include "helper_3dmath.h"
#include <AFMotor.h>//Motor library provides control to the arduino motor shield
//MPU9150 accelGyroMag;
int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t mx, my, mz;
//#define LED_PIN 13
bool blinkState = false;
int data=0;//Integer variable which will store the data received by bluetooth
int* value;
AF_DCMotor motor1(1, MOTOR12_64KHZ); // Create access to motor #2, 64KHz pwm
AF_DCMotor motor2(2, MOTOR12_64KHZ); // Create access to motor #2, 64KHz pwm
AF_DCMotor motor3(3, MOTOR12_64KHZ); // Create access to motor #2, 64KHz pwm
AF_DCMotor motor4(4, MOTOR12_64KHZ); // Create access to motor #2, 64KHz pwm
void setup()
{
Wire.begin();
// 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
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(9600);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
// Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// wait for ready
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 DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// configure LED for output
//pinMode(LED_PIN, OUTPUT);
}
void loop()
{ //int *pointer;
int a=255;
int b=0;
int c=180;
int d=180;
// 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();
//Serial.println(F("FIFO overflow!"));
// 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;
//#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
// mpu.dmpGetQuaternion(&q, fifoBuffer);
//mpu.dmpGetEuler(euler, &q);
//Serial.print("euler\t");
//Serial.print(euler[0] * 180/M_PI);
//Serial.print("\t");
//Serial.print(euler[1] * 180/M_PI);
//Serial.print("\t");
//Serial.println(euler[2] * 180/M_PI);
//#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//Serial.print("ypr\t");
yaw=ypr[0] * 180/M_PI;
//Serial.print(ypr[0] * 180/M_PI);
//Serial.print("\t");
pitch=ypr[1] * 180/M_PI;
//Serial.print(ypr[1] * 180/M_PI);
//Serial.print("\t");
roll=ypr[2] * 180/M_PI;
//Serial.println(ypr[2] * 180/M_PI);
//delay(1000);
#endif
/*#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif*/
#ifdef OUTPUT_READABLE_WORLDACCEL//project uses world acceleration
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
accX=aaWorld.x;
Serial.print(aaWorld.x);
Serial.print("\t");
accY=aaWorld.y;
Serial.print(aaWorld.y);
Serial.print("\t");
accZ=aaWorld.z;
Serial.println(aaWorld.z);
//delay(400);
#endif
#ifdef OUTPUT_TEAPOT
display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
// Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
// blink LED to indicate activity
blinkState = !blinkState;
//digitalWrite(LED_PIN, blinkState);
}
//*************************************************************
if(Serial.available())
{ data=Serial.read();
if(data=='a')
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor1.run(FORWARD);
motor4.run(FORWARD); // turn it on going forward
}
if(data=='b')
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor1.run(BACKWARD);
motor4.run(BACKWARD); // the other way
}
if(data=='c')
{
motor1.run(RELEASE);
motor2.run(RELEASE); // stopped
motor3.run(RELEASE);
motor4.run(RELEASE);
}
if(data=='d')
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor2.run(FORWARD);
motor3.run(FORWARD); // turn left
}
if(data=='e')
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor2.run(BACKWARD);
motor3.run(BACKWARD); // turn right
}
if(data=='f')
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor1.run(BACKWARD);
motor2.run(FORWARD); // stopped
motor3.run(BACKWARD);
motor4.run(FORWARD);
}
if(data=='g')
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor1.run(FORWARD);
motor2.run(BACKWARD); // stopped
motor3.run(FORWARD);
motor4.run(BACKWARD);
}
}//if serial available end
if((data!='a')&&(data!='b')&&(data!='d')&&(data!='e')&&(data!='f')&&(data!='g'))
{
//if((accZ<4600)&&((roll<10)||(roll>-10)))
if(((accX<150)||(accX>-150)||(accZ>4300))&&((roll<10)||(roll>-10)))
{
//************************PITCH FEEDBACK**********************************
if(pitch<-15)
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor2.run(FORWARD);//forward
motor3.run(FORWARD);
}//end if to check if the sphere is still moving left
else if(pitch>15)
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor2.run(BACKWARD);
motor3.run(BACKWARD); // backward
}//end to check pitch right
else if((pitch>=-10)||(pitch<=10))
{
motor1.run(RELEASE);
motor2.run(RELEASE); // stopped
motor3.run(RELEASE);
motor4.run(RELEASE);
}//end spin right to balance
}//end if acceleration in Y
//***********************END PITCH FEEDBACK************************************
//************************ROLL FEEDBACK**********************************
if((accZ<4600)&&((pitch<10)||(pitch>-10)))
{
if((roll<-15))
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor1.run(FORWARD);//forward
motor4.run(FORWARD);
}//end if to check if the sphere is still moving left
else if(roll>15)
{
motor1.setSpeed(a); // set the speed to 200/255
motor2.setSpeed(a); // set the speed to 200/255
motor3.setSpeed(a);
motor4.setSpeed(a);
motor1.run(BACKWARD);
motor4.run(BACKWARD); // backward
}//end to check pitch right
else if((roll>=-10)||(roll<=10))
{
motor1.run(RELEASE);
motor2.run(RELEASE); // stopped
motor3.run(RELEASE);
motor4.run(RELEASE);
}//end spin right to balance
//***********************END ROLL FEEDBACK************************************
}//end if to check if acceleration is decressing
}//end if to check if there is data incomming
}
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