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Thefeli73
291
EENX15_LQR/EENX15_LQR.ino
Normal file
291
EENX15_LQR/EENX15_LQR.ino
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//gyroscope stuff
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#include <Adafruit_MPU6050.h>
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#include <Adafruit_Sensor.h>
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#include <Wire.h>
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Adafruit_MPU6050 mpu;
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//temporary variable to measure main loops
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int temp_loops;
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float AccX, AccY, AccZ;
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float GyroX, GyroY, GyroZ;
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float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
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float roll, pitch, yaw;
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float AccErrorX, AccErrorY, GyroErrorX, GyroErrorY, GyroErrorZ;
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float elapsedTime, currentTime, previousTime;
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int gyro_x, gyro_y, gyro_z;
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long gyro_x_cal, gyro_y_cal, gyro_z_cal;
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boolean set_gyro_angles;
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long acc_x, acc_y, acc_z, acc_total_vector;
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float angle_roll_acc, angle_pitch_acc;
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float angle_pitch, angle_roll;
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int angle_pitch_buffer, angle_roll_buffer;
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float angle_pitch_output, angle_roll_output;
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long loop_timer;
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int temp;
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//motor stuff
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const int MotorPinA = 12;
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const int MotorSpeedA = 3;
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const int MotorBrakeA = 9;
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const int MotorPinB = 13;
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const int MotorSpeedB = 11;
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const int MotorBrakeB = 8;
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const int CCW = HIGH;
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const int CW = LOW;
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volatile byte half_revolutionsA;
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volatile byte half_revolutionsB;
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unsigned int rpmA;
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unsigned int rpmB;
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unsigned long timeoldA;
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unsigned long timeoldB;
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void setup() {
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//gyroscope
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Serial.begin(115200);
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while (!Serial)
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delay(10); // will pause Zero, Leonardo, etc until serial console opens
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Serial.println("Adafruit MPU6050 test!");
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// Try to initialize!
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if (!mpu.begin()) {
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Serial.println("Failed to find MPU6050 chip");
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while (1) {
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delay(10);
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}
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}
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Serial.println("MPU6050 Found!");
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mpu.setAccelerometerRange(MPU6050_RANGE_4_G);
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Serial.print("Accelerometer range set to: ");
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switch (mpu.getAccelerometerRange()) {
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case MPU6050_RANGE_2_G:
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Serial.println("+-2G");
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break;
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case MPU6050_RANGE_4_G:
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Serial.println("+-4G");
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break;
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case MPU6050_RANGE_8_G:
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Serial.println("+-8G");
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break;
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case MPU6050_RANGE_16_G:
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Serial.println("+-16G");
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break;
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}
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mpu.setGyroRange(MPU6050_RANGE_500_DEG);
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Serial.print("Gyro range set to: ");
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switch (mpu.getGyroRange()) {
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case MPU6050_RANGE_250_DEG:
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Serial.println("+- 250 deg/s");
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break;
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case MPU6050_RANGE_500_DEG:
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Serial.println("+- 500 deg/s");
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break;
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case MPU6050_RANGE_1000_DEG:
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Serial.println("+- 1000 deg/s");
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break;
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case MPU6050_RANGE_2000_DEG:
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Serial.println("+- 2000 deg/s");
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break;
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}
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mpu.setFilterBandwidth(MPU6050_BAND_184_HZ);
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Serial.print("Filter bandwidth set to: ");
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switch (mpu.getFilterBandwidth()) {
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case MPU6050_BAND_260_HZ:
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Serial.println("260 Hz");
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break;
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case MPU6050_BAND_184_HZ:
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Serial.println("184 Hz");
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break;
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case MPU6050_BAND_94_HZ:
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Serial.println("94 Hz");
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break;
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case MPU6050_BAND_44_HZ:
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Serial.println("44 Hz");
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break;
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case MPU6050_BAND_21_HZ:
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Serial.println("21 Hz");
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break;
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case MPU6050_BAND_10_HZ:
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Serial.println("10 Hz");
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break;
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case MPU6050_BAND_5_HZ:
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Serial.println("5 Hz");
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break;
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}
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Serial.println("");
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delay(100);
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calibrateGyro();
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//motor
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pinMode(MotorPinA, OUTPUT);
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pinMode(MotorSpeedA, OUTPUT);
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pinMode(MotorBrakeA, OUTPUT);
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pinMode(MotorPinB, OUTPUT);
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pinMode(MotorSpeedB, OUTPUT);
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pinMode(MotorBrakeB, OUTPUT);
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attachInterrupt(0, magnet_detectA, RISING);
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//attachInterrupt(1, magnet_detectB, RISING);
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half_revolutionsA = 0;
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rpmA = 0;
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timeoldA = 0;
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half_revolutionsB = 0;
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rpmB = 0;
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timeoldB = 0;
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}
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void loop() {
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/* Get new sensor events with the readings */
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sensors_event_t a, g, temp;
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mpu.getEvent(&a, &g, &temp);
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//Subtract the offset values from the raw gyro values
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gyro_x = g.gyro.x;
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gyro_y = g.gyro.y;
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gyro_z = g.gyro.z;
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acc_x = a.acceleration.x;
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acc_y = a.acceleration.y;
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acc_z = a.acceleration.z;
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gyro_x -= gyro_x_cal;
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gyro_y -= gyro_y_cal;
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gyro_z -= gyro_z_cal;
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previousTime = currentTime; // Previous time is stored before the actual time read
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currentTime = millis(); // Current time actual time read
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elapsedTime = (currentTime - previousTime) / 1000; // Divide by 1000 to get seconds
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//Gyro angle calculations
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angle_pitch += gyro_x * elapsedTime * 180/PI; //Calculate the traveled pitch angle and add this to the angle_pitch variable, rad/s ---> degrees
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angle_roll += gyro_y * elapsedTime * 180/PI ; //Calculate the traveled roll angle and add this to the angle_roll variable
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//0.000001066 = 0.0000611 * (3.142(PI) / 180degr) sin function is in radians
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angle_pitch += angle_roll * sin(gyro_z * 0.000001066); //If the IMU has yawed transfer the roll angle to the pitch angel
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angle_roll -= angle_pitch * sin(gyro_z * 0.000001066); //If the IMU has yawed transfer the pitch angle to the roll angel
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//Accelerometer angle calculations
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acc_total_vector = sqrt((acc_x*acc_x)+(acc_y*acc_y)+(acc_z*acc_z)); //Calculate the total accelerometer vector
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//57.296 = 1 / (3.142 / 180) The Arduino asin function is in radians
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angle_pitch_acc = asin((float)acc_y/acc_total_vector)* 57.296; //Calculate the pitch angle
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angle_roll_acc = asin((float)acc_x/acc_total_vector)* -57.296; //Calculate the roll angle
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angle_pitch_acc -= 0.0; //Accelerometer calibration value for pitch
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angle_roll_acc -= 0.0; //Accelerometer calibration value for roll
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if(set_gyro_angles){ //If the IMU is already started
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angle_pitch = angle_pitch * 0.96 + angle_pitch_acc * 0.04; //Correct the drift of the gyro pitch angle with the accelerometer pitch angle
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angle_roll = angle_roll * 0.96 + angle_roll_acc * 0.04; //Correct the drift of the gyro roll angle with the accelerometer roll angle
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}
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else{ //At first start
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angle_pitch = angle_pitch_acc; //Set the gyro pitch angle equal to the accelerometer pitch angle
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angle_roll = angle_roll_acc; //Set the gyro roll angle equal to the accelerometer roll angle
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set_gyro_angles = true; //IMU started flag
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}
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// complementary filter
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angle_pitch_output = angle_pitch_output * 0.8 + angle_pitch * 0.2; //Take 90% of the output pitch value and add 10% of the raw pitch value
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angle_roll_output = angle_roll_output * 0.8 + angle_roll * 0.2; //Take 90% of the output roll value and add 10% of the raw roll value
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if(temp_loops>100){
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Serial.println("");
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Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output);
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Serial.print(" pitch Angle abs = "); Serial.println(abs(int(angle_pitch_output)));
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Serial.print(" pitch Angle measured = "); Serial.println(angle_pitch);
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temp_loops = 0;
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}
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else {
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temp_loops++;
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}
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if(angle_pitch_output!=0 && (abs(angle_pitch_output))<50 ){
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digitalWrite(MotorBrakeB, LOW);
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digitalWrite(MotorBrakeA, LOW);
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if(angle_pitch_output<0){
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digitalWrite(MotorPinB, CW);
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digitalWrite(MotorPinA, CCW);
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}
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else{
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digitalWrite(MotorPinB, CCW);
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digitalWrite(MotorPinA, CW);
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}
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if((abs(int(angle_pitch_output))*8 + 30)<250){
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analogWrite(MotorSpeedB,30 + 8*abs(int(angle_pitch_output))); //Wheel close to connections
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analogWrite(MotorSpeedA,30 + 8*abs(int(angle_pitch_output))); //First experiment wheel
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}
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else{
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analogWrite(MotorSpeedB,250); //Wheel close to connections
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analogWrite(MotorSpeedA,250); //First experiment wheel
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}
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}
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else{
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digitalWrite(MotorBrakeB, HIGH);
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digitalWrite(MotorBrakeA, HIGH);
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analogWrite(MotorSpeedB,0);
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analogWrite(MotorSpeedA,0);
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}
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}
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void calibrateGyro() {
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for (int cal_int = 0; cal_int < 1000 ; cal_int ++){ //Read the raw acc and gyro data from the MPU-6050 for 1000 times
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sensors_event_t a, g, temp;
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mpu.getEvent(&a, &g, &temp);
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gyro_x = g.gyro.x;
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gyro_y = g.gyro.y;
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gyro_z = g.gyro.z;
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gyro_x_cal += g.gyro.x ; //Add the gyro x offset to the gyro_x_cal variable
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gyro_y_cal += g.gyro.y ; //Add the gyro y offset to the gyro_y_cal variable
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gyro_z_cal += g.gyro.z ; //Add the gyro z offset to the gyro_z_cal variable
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delay(3); //Delay 3us to have 250Hz for-loop
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}
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// divide by 1000 to get avarage offset
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gyro_x_cal /= 1000;
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gyro_y_cal /= 1000;
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gyro_z_cal /= 1000;
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loop_timer = micros(); //Reset the loop timer
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if (half_revolutionsA >= 20) {
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rpmA = 30*1000/(millis() - timeoldA)*half_revolutionsA;
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timeoldA = millis();
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half_revolutionsA = 0;
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Serial.println(rpmA);
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Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output);
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}
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if (half_revolutionsB >= 20) {
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rpmB = 30*1000/(millis() - timeoldB)*half_revolutionsB;
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timeoldB = millis();
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half_revolutionsB = 0;
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Serial.println(rpmB);
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Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output);
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}
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}
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void magnet_detectA()//This function is called whenever a magnet/interrupt is detected by the arduino
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{
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half_revolutionsA++;
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Serial.println("detect");
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}
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void magnet_detectB()//This function is called whenever a magnet/interrupt is detected by the arduino
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{
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half_revolutionsB++;
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//Serial.println("detect");
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}
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