請教自走平衡腳踏車
本帖最后由 lifer0107 于 2016-3-11 13:48 编辑請教各位先進前輩
我想製作一個自走平衡的腳踏車（就跟樂高上的平衡腳踏車一樣動作方式）
但程式寫好執行時會遇到mpu 6050 讀取訊號不穩定造成伺服馬達會嚴重抖動無法平衡
想請教各位前輩是否程式撰寫有誤造成讀取訊號異常
下圖為接線圖和程式
還請各位前輩批評與指教
謝謝
#include <Servo.h>
Servo myservoX; // Pitch
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
MPU6050 mpu;
#define OUTPUT_READABLE_YAWPITCHROLL
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// 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; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // quaternion container
VectorInt16 aa; // accel sensor measurements
VectorInt16 aaReal; // gravity-free accel sensor measurements
VectorInt16 aaWorld; // world-frame accel sensor measurements
VectorFloat gravity; // gravity vector
float euler; // Euler angle container
float ypr; // yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
//-----------------------------------自加程式下-------------------------------------------------------
int bicycle = 10 ; //設定後輪馬達輸出pin 10
int moto = 11;
//------------------------------------------------------------------------------------------
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
//pid_compute,pid_adjust
unsigned long nowTime,lastTime,lastTime2,lastTime3;//現在時間、上次時間
double timeChange;//時間間隔
double feedback,output,setPoint = 90;//回授量、輸出量、設定點
//int feedback;
double error,errorSum,dError,lastError;//誤差、積分誤差、微分誤差、上次誤差
double kp = 5,ki = 0,kd = 5;//PID參數
//speed_adjust ,motor_control
int motor_speed = 0;
int max_speed = 90;
int min_speed = 0;
// ================================================================
// === 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
//Attach servo
//myservoY.attach(9); // Attach Y servo to pin 9
//myservoX.attach(10);// Attach X servo to pin 10
// 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(115200);
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);
//-----------------------------------自加程式下-------------------------------------------------------
myservoX.attach(7);// Attach X servo to pin 7
pinMode(bicycle , OUTPUT); // bicycle 為輸出
pinMode(moto , OUTPUT);
//------------------------------------------------------------------------------------------
}
// ================================================================
// === 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();
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_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
nowTime = millis();
feedback = int(ypr * 180/M_PI)+90;
pid_compute();
speed_adjust();
analogWrite(moto , 130);
digitalWrite(bicycle , LOW);
int final_angle = motor_speed+90;
myservoX.write(final_angle);
//myservoX.writeMicroseconds(motor_speed);
Serial.print("feedback: ");
Serial.print(feedback);
Serial.print("error: ");
Serial.print(error);
Serial.print("setPoint: ");
Serial.print(setPoint);
Serial.print("output: ");
Serial.print(output);
Serial.print("final_angle: ");
Serial.println(final_angle);
//myservoX.write(int(ypr * 180/M_PI)+90); // Rotation around X
//------------------------------------------------------------------------------------------
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}
void pid_compute(){
/* 計算時間差*/
timeChange = (double)(nowTime - lastTime);
/* 計算誤差量*/
error = setPoint - feedback;
errorSum += (error * (timeChange/1000));
dError = (error - lastError) / (timeChange/1000);
/* 計算PID輸出*/
output = kp * error + ki * errorSum + kd * dError;
/* 誤差與時間暫存*/
lastError = error;
lastTime = nowTime;
}
void speed_adjust(){
if(output>=max_speed){
motor_speed = max_speed;
}
else if(output<=-max_speed){
motor_speed = -max_speed;
}
else{
motor_speed = (int)output;
}
}
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