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/* Copyright (C) 2013-2015 Kristian Lauszus, TKJ Electronics. All rights reserved.
This software may be distributed and modified under the terms of the GNU
General Public License version 2 (GPL2) as published by the Free Software
Foundation and appearing in the file GPL2.TXT included in the packaging of
this file. Please note that GPL2 Section 2[b] requires that all works based
on this software must also be made publicly available under the terms of
the GPL2 ("Copyleft").
Contact information
-------------------
Kristian Lauszus, TKJ Electronics
Web : http://www.tkjelectronics.dk
e-mail : kristianl@tkjelectronics.dk
This is the algorithm for the Balanduino balancing robot.
It can be controlled by either an Android app or a computer application via Bluetooth.
The Android app can be found at the following link: https://github.com/TKJElectronics/BalanduinoAndroidApp
The Processing application can be found here: https://github.com/TKJElectronics/BalanduinoProcessingApp
A dedicated Windows application can be found here: https://github.com/TKJElectronics/BalanduinoWindowsApp
It can also be controlled by a PS3, PS4, Wii or a Xbox controller.
Furthermore it supports the Spektrum serial protocol used for RC receivers.
For details, see: http://balanduino.net/
*/
/* Use this to enable and disable the different options */
#define ENABLE_TOOLS
#define ENABLE_SPP
#define ENABLE_PS3
#define ENABLE_PS4
#define ENABLE_WII
#define ENABLE_XBOX
#define ENABLE_ADK
#define ENABLE_SPEKTRUM
#include "Balanduino.h"
#include <Arduino.h> // Standard Arduino header
#include <Wire.h> // Official Arduino Wire library
#include <SPI.h> // Official Arduino SPI library
#ifdef ENABLE_ADK
#include <adk.h>
#endif
// These are all open source libraries written by Kristian Lauszus, TKJ Electronics
// The USB libraries are located at the following link: https://github.com/felis/USB_Host_Shield_2.0
#include <Kalman.h> // Kalman filter library - see: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it/
#ifdef ENABLE_XBOX
#include <XBOXRECV.h>
#endif
#ifdef ENABLE_SPP
#include <SPP.h>
#endif
#ifdef ENABLE_PS3
#include <PS3BT.h>
#endif
#ifdef ENABLE_PS4
#include <PS4BT.h>
#endif
#ifdef ENABLE_WII
#include <Wii.h>
#endif
// Create the Kalman library instance
Kalman kalman; // See https://github.com/TKJElectronics/KalmanFilter for source code
#if defined(ENABLE_SPP) || defined(ENABLE_PS3) || defined(ENABLE_PS4) || defined(ENABLE_WII) || defined(ENABLE_XBOX) || defined(ENABLE_ADK)
#define ENABLE_USB
USB Usb; // This will take care of all USB communication
#else
#define _usb_h_ // Workaround include trap in the USB Host library
#include <avrpins.h> // Include this from the USB Host library
#endif
#ifdef ENABLE_ADK
// Implementation for the Android Open Accessory Protocol. Simply connect your phone to get redirected to the Play Store
ADK adk(&Usb, "TKJ Electronics", // Manufacturer Name
"Balanduino", // Model Name
"Android App for Balanduino", // Description - user visible string
"0.6.3", // Version of the Android app
"https://play.google.com/store/apps/details?id=com.tkjelectronics.balanduino", // URL - web page to visit if no installed apps support the accessory
"1234"); // Serial Number - this is not used
#endif
#ifdef ENABLE_XBOX
XBOXRECV Xbox(&Usb); // You have to connect a Xbox wireless receiver to the Arduino to control it with a wireless Xbox controller
#endif
#if defined(ENABLE_SPP) || defined(ENABLE_PS3) || defined(ENABLE_PS4) || defined(ENABLE_WII)
#define ENABLE_BTD
#include <usbhub.h> // Some dongles can have a hub inside
USBHub Hub(&Usb); // Some dongles have a hub inside
BTD Btd(&Usb); // This is the main Bluetooth library, it will take care of all the USB and HCI communication with the Bluetooth dongle
#endif
#ifdef ENABLE_SPP
SPP SerialBT(&Btd, "Balanduino", "0000"); // The SPP (Serial Port Protocol) emulates a virtual Serial port, which is supported by most computers and mobile phones
#endif
#ifdef ENABLE_PS3
PS3BT PS3(&Btd); // The PS3 library supports all three official controllers: the Dualshock 3, Navigation and Move controller
#endif
#ifdef ENABLE_PS4
//PS4BT PS4(&Btd, PAIR); // You should create the instance like this if you want to pair with a PS4 controller, then hold PS and Share on the PS4 controller
// Or you can simply send "CPP;" to the robot to start the pairing sequence
// This can also be done using the Android or via the serial port
PS4BT PS4(&Btd); // The PS4BT library supports the PS4 controller via Bluetooth
#endif
#ifdef ENABLE_WII
WII Wii(&Btd); // The Wii library can communicate with Wiimotes and the Nunchuck and Motion Plus extension and finally the Wii U Pro Controller
//WII Wii(&Btd,PAIR); // You will have to pair with your Wiimote first by creating the instance like this and the press 1+2 on the Wiimote or press sync if you are using a Wii U Pro Controller
// Or you can simply send "CPW;" to the robot to start the pairing sequence
// This can also be done using the Android or via the serial port
#endif
void setup() {
/* Setup buzzer pin */
buzzer::SetDirWrite();
/* Read the PID values, target angle and other saved values in the EEPROM */
if (!checkInitializationFlags()) {
readEEPROMValues(); // Only read the EEPROM values if they have not been restored
#ifdef ENABLE_SPEKTRUM
if (cfg.bindSpektrum) // If flag is set, then bind with Spektrum satellite receiver
bindSpektrum();
#endif
} else { // Indicate that the EEPROM values have been reset by turning on the buzzer
buzzer::Set();
delay(1000);
buzzer::Clear();
delay(100); // Wait a little after the pin is cleared
}
/* Initialize UART */
Serial.begin(115200);
/* Setup encoders */
leftEncoder1::SetDirRead();
leftEncoder2::SetDirRead();
rightEncoder1::SetDirRead();
rightEncoder2::SetDirRead();
leftEncoder1::Set(); // Enable pull-ups
leftEncoder2::Set();
rightEncoder1::Set();
rightEncoder2::Set();
#if BALANDUINO_REVISION < 13 // On the new revisions pin change interrupt is used for all pins
attachInterrupt(digitalPinToInterrupt(leftEncoder1Pin), leftEncoder, CHANGE);
attachInterrupt(digitalPinToInterrupt(rightEncoder1Pin), rightEncoder, CHANGE);
#endif
#if defined(PIN_CHANGE_INTERRUPT_VECTOR_LEFT) && defined(PIN_CHANGE_INTERRUPT_VECTOR_RIGHT)
/* Enable encoder pins interrupt sources */
#if BALANDUINO_REVISION >= 13
*digitalPinToPCMSK(leftEncoder1Pin) |= (1 << digitalPinToPCMSKbit(leftEncoder1Pin));
*digitalPinToPCMSK(rightEncoder1Pin) |= (1 << digitalPinToPCMSKbit(rightEncoder1Pin));
#endif
*digitalPinToPCMSK(leftEncoder2Pin) |= (1 << digitalPinToPCMSKbit(leftEncoder2Pin));
*digitalPinToPCMSK(rightEncoder2Pin) |= (1 << digitalPinToPCMSKbit(rightEncoder2Pin));
/* Enable pin change interrupts */
#if BALANDUINO_REVISION >= 13
*digitalPinToPCICR(leftEncoder1Pin) |= (1 << digitalPinToPCICRbit(leftEncoder1Pin));
*digitalPinToPCICR(rightEncoder1Pin) |= (1 << digitalPinToPCICRbit(rightEncoder1Pin));
#endif
*digitalPinToPCICR(leftEncoder2Pin) |= (1 << digitalPinToPCICRbit(leftEncoder2Pin));
*digitalPinToPCICR(rightEncoder2Pin) |= (1 << digitalPinToPCICRbit(rightEncoder2Pin));
#elif BALANDUINO_REVISION >= 13
#error "Please define "PIN_CHANGE_INTERRUPT_VECTOR_LEFT" and "PIN_CHANGE_INTERRUPT_VECTOR_RIGHT" in Balanduino.h"
#endif
/* Set the motordriver diagnostic pins to inputs */
leftDiag::SetDirRead();
rightDiag::SetDirRead();
/* Setup motor pins to output */
leftPWM::SetDirWrite();
leftA::SetDirWrite();
leftB::SetDirWrite();
rightPWM::SetDirWrite();
rightA::SetDirWrite();
rightB::SetDirWrite();
/* Set PWM frequency to 20kHz - see the datasheet http://www.atmel.com/Images/Atmel-8272-8-bit-AVR-microcontroller-ATmega164A_PA-324A_PA-644A_PA-1284_P_datasheet.pdf page 129-139 */
// Set up PWM, Phase and Frequency Correct on pin 18 (OC1A) & pin 17 (OC1B) with ICR1 as TOP using Timer1
TCCR1B = (1 << WGM13) | (1 << CS10); // Set PWM Phase and Frequency Correct with ICR1 as TOP and no prescaling
ICR1 = PWMVALUE; // ICR1 is the TOP value - this is set so the frequency is equal to 20kHz
/* Enable PWM on pin 18 (OC1A) & pin 17 (OC1B) */
// Clear OC1A/OC1B on compare match when up-counting
// Set OC1A/OC1B on compare match when down-counting
TCCR1A = (1 << COM1A1) | (1 << COM1B1);
#ifdef ENABLE_USB
if (Usb.Init() == -1) { // Check if USB Host is working
Serial.print(F("OSC did not start"));
buzzer::Set();
while (1); // Halt
}
#endif
/* Attach onInit function */
// This is used to set the LEDs according to the voltage level and vibrate the controller to indicate the new connection
#ifdef ENABLE_PS3
PS3.attachOnInit(onInitPS3);
#endif
#ifdef ENABLE_PS4
PS4.attachOnInit(onInitPS4);
#endif
#ifdef ENABLE_WII
Wii.attachOnInit(onInitWii);
#endif
#ifdef ENABLE_XBOX
Xbox.attachOnInit(onInitXbox);
#endif
/* Setup IMU */
Wire.begin();
#if ARDUINO >= 157
Wire.setClock(400000UL); // Set I2C frequency to 400kHz
#else
TWBR = ((F_CPU / 400000UL) - 16) / 2; // Set I2C frequency to 400kHz
#endif
while (i2cRead(0x75, i2cBuffer, 1));
if (i2cBuffer[0] != 0x68) { // Read "WHO_AM_I" register
Serial.print(F("Error reading sensor"));
buzzer::Set();
while (1); // Halt
}
while (i2cWrite(0x6B, 0x80, true)); // Reset device, this resets all internal registers to their default values
do {
while (i2cRead(0x6B, i2cBuffer, 1));
} while (i2cBuffer[0] & 0x80); // Wait for the bit to clear
delay(5);
while (i2cWrite(0x6B, 0x09, true)); // PLL with X axis gyroscope reference, disable temperature sensor and disable sleep mode
#if 1
i2cBuffer[0] = 1; // Set the sample rate to 500Hz - 1kHz/(1+1) = 500Hz
i2cBuffer[1] = 0x03; // Disable FSYNC and set 44 Hz Acc filtering, 42 Hz Gyro filtering, 1 KHz sampling
#else
i2cBuffer[0] = 15; // Set the sample rate to 500Hz - 8kHz/(15+1) = 500Hz
i2cBuffer[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
#endif
i2cBuffer[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
i2cBuffer[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
while (i2cWrite(0x19, i2cBuffer, 4, true)); // Write to all four registers at once
delay(100); // Wait for the sensor to get ready
/* Set Kalman and gyro starting angle */
while (i2cRead(0x3D, i2cBuffer, 4));
int16_t accY = ((i2cBuffer[0] << 8) | i2cBuffer[1]);
int16_t accZ = ((i2cBuffer[2] << 8) | i2cBuffer[3]);
// atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2
// We then convert it to 0 to 2π and then from radians to degrees
accAngle = (atan2((float)accY - cfg.accYzero, (float)accZ - cfg.accZzero) + PI) * RAD_TO_DEG;
kalman.setAngle(accAngle); // Set starting angle
pitch = accAngle;
gyroAngle = accAngle;
/* Calibrate gyro zero value */
while (calibrateGyro()); // Run again if the robot is moved while calibrating
LED::SetDirWrite(); // Set LED pin to output
stopAndReset(); // Turn off motors and reset different values
#ifdef ENABLE_TOOLS
printMenu();
#endif
/* Beep to indicate that it is now ready */
buzzer::Set();
delay(100);
buzzer::Clear();
/* Setup timing */
kalmanTimer = micros();
pidTimer = kalmanTimer;
imuTimer = millis();
encoderTimer = imuTimer;
reportTimer = imuTimer;
ledTimer = imuTimer;
blinkTimer = imuTimer;
}
void loop() {
if (!leftDiag::IsSet() || !rightDiag::IsSet()) { // Motor driver will pull these low on error
buzzer::Set();
stopMotor(left);
stopMotor(right);
while (1);
}
#if defined(ENABLE_WII) || defined(ENABLE_PS4) // We have to read much more often from the Wiimote and PS4 controller to decrease latency
bool readUSB = false;
#ifdef ENABLE_WII
if (Wii.wiimoteConnected)
readUSB = true;
#endif
#ifdef ENABLE_PS4
if (PS4.connected())
readUSB = true;
#endif
if (readUSB)
Usb.Task();
#endif
/* Calculate pitch */
while (i2cRead(0x3D, i2cBuffer, 8));
int16_t accY = ((i2cBuffer[0] << 8) | i2cBuffer[1]);
int16_t accZ = ((i2cBuffer[2] << 8) | i2cBuffer[3]);
int16_t gyroX = ((i2cBuffer[6] << 8) | i2cBuffer[7]);
// atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2
// We then convert it to 0 to 2π and then from radians to degrees
accAngle = (atan2((float)accY - cfg.accYzero, (float)accZ - cfg.accZzero) + PI) * RAD_TO_DEG;
uint32_t timer = micros();
// This fixes the 0-360 transition problem when the accelerometer angle jumps between 0 and 360 degrees
if ((accAngle < 90 && pitch > 270) || (accAngle > 270 && pitch < 90)) {
kalman.setAngle(accAngle);
pitch = accAngle;
gyroAngle = accAngle;
} else {
float gyroRate = ((float)gyroX - gyroXzero) / 131.0f; // Convert to deg/s
float dt = (float)(timer - kalmanTimer) / 1000000.0f;
gyroAngle += gyroRate * dt; // Gyro angle is only used for debugging
if (gyroAngle < 0 || gyroAngle > 360)
gyroAngle = pitch; // Reset the gyro angle when it has drifted too much
pitch = kalman.getAngle(accAngle, gyroRate, dt); // Calculate the angle using a Kalman filter
}
kalmanTimer = timer;
//Serial.print(accAngle);Serial.print('\t');Serial.print(gyroAngle);Serial.print('\t');Serial.println(pitch);
#if defined(ENABLE_WII) || defined(ENABLE_PS4) // We have to read much more often from the Wiimote and PS4 controller to decrease latency
if (readUSB)
Usb.Task();
#endif
/* Drive motors */
timer = micros();
// If the robot is laying down, it has to be put in a vertical position before it starts balancing
// If it's already balancing it has to be ±45 degrees before it stops trying to balance
if ((layingDown && (pitch < cfg.targetAngle - 10 || pitch > cfg.targetAngle + 10)) || (!layingDown && (pitch < cfg.targetAngle - 45 || pitch > cfg.targetAngle + 45))) {
layingDown = true; // The robot is in a unsolvable position, so turn off both motors and wait until it's vertical again
stopAndReset();
} else {
layingDown = false; // It's no longer laying down
updatePID(cfg.targetAngle, targetOffset, turningOffset, (float)(timer - pidTimer) / 1000000.0f);
}
pidTimer = timer;
/* Update encoders */
timer = millis();
if (timer - encoderTimer >= 100) { // Update encoder values every 100ms
encoderTimer = timer;
int32_t wheelPosition = getWheelsPosition();
wheelVelocity = wheelPosition - lastWheelPosition;
lastWheelPosition = wheelPosition;
//Serial.print(wheelPosition);Serial.print('\t');Serial.print(targetPosition);Serial.print('\t');Serial.println(wheelVelocity);
if (abs(wheelVelocity) <= 40 && !stopped) { // Set new targetPosition if braking
targetPosition = wheelPosition;
stopped = true;
}
batteryCounter++;
if (batteryCounter >= 10) { // Measure battery every 1s
batteryCounter = 0;
batteryVoltage = (float)analogRead(VBAT) / 63.050847458f; // VBAT is connected to analog input 5 which is not broken out. This is then connected to a 47k-12k voltage divider - 1023.0/(3.3/(12.0/(12.0+47.0))) = 63.050847458
if (batteryVoltage < 10.2 && batteryVoltage > 5) // Equal to 3.4V per cell - don't turn on if it's below 5V, this means that no battery is connected
buzzer::Set();
else
buzzer::Clear();
}
}
/* Read the Bluetooth dongle and send PID and IMU values */
#if defined(ENABLE_TOOLS) || defined(ENABLE_SPEKTRUM)
checkSerialData();
#endif
#if defined(ENABLE_USB) || defined(ENABLE_SPEKTRUM)
readUsb();
#endif
#if defined(ENABLE_TOOLS) || defined(ENABLE_SPP)
printValues();
#endif
#ifdef ENABLE_BTD
if (Btd.isReady()) {
timer = millis();
if ((Btd.watingForConnection && timer - blinkTimer > 1000) || (!Btd.watingForConnection && timer - blinkTimer > 100)) {
blinkTimer = timer;
LED::Toggle(); // Used to blink the built in LED, starts blinking faster upon an incoming Bluetooth request
}
} else
LED::Clear(); // This will turn it off
#endif
}