项目代码///////////////////////////////////////////////////////////////////////////////////////
//Terms of use
///////////////////////////////////////////////////////////////////////////////////////
//THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//THE SOFTWARE.
///////////////////////////////////////////////////////////////////////////////////////
#include <Wire.h> //Include the Wire.h library so we can communicate with the gyro
int gyro_address = 0x68; //MPU-6050 I2C address (0x68 or 0x69)
int acc_calibration_value = 1000; //Enter the accelerometer calibration value
//Various settings
float pid_p_gain = 15; //Gain setting for the P-controller (15)
float pid_i_gain = 1.5; //Gain setting for the I-controller (1.5)
float pid_d_gain = 30; //Gain setting for the D-controller (30)
float turning_speed = 30; //Turning speed (20)
float max_target_speed = 150; //Max target speed (100)
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Declaring global variables
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
byte start, received_byte, low_bat;
int left_motor, throttle_left_motor, throttle_counter_left_motor, throttle_left_motor_memory;
int right_motor, throttle_right_motor, throttle_counter_right_motor, throttle_right_motor_memory;
int battery_voltage;
int receive_counter;
int gyro_pitch_data_raw, gyro_yaw_data_raw, accelerometer_data_raw;
long gyro_yaw_calibration_value, gyro_pitch_calibration_value;
unsigned long loop_timer;
float angle_gyro, angle_acc, angle, self_balance_pid_setpoint;
float pid_error_temp, pid_i_mem, pid_setpoint, gyro_input, pid_output, pid_last_d_error;
float pid_output_left, pid_output_right;
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Setup basic functions
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void setup(){
Serial.begin(9600); //Start the serial port at 9600 kbps
Wire.begin(); //Start the I2C bus as master
TWBR = 12; //Set the I2C clock speed to 400kHz
//To create a variable pulse for controlling the stepper motors a timer is created that will execute a piece of code (subroutine) every 20us
//This subroutine is called TIMER2_COMPA_vect
TCCR2A = 0; //Make sure that the TCCR2A register is set to zero
TCCR2B = 0; //Make sure that the TCCR2A register is set to zero
TIMSK2 |= (1 << OCIE2A); //Set the interupt enable bit OCIE2A in the TIMSK2 register
TCCR2B |= (1 << CS21); //Set the CS21 bit in the TCCRB register to set the prescaler to 8
OCR2A = 39; //The compare register is set to 39 => 20us / (1s / (16.000.000MHz / 8)) - 1
TCCR2A |= (1 << WGM21); //Set counter 2 to CTC (clear timer on compare) mode
//By default the MPU-6050 sleeps. So we have to wake it up.
Wire.beginTransmission(gyro_address); //Start communication with the address found during search.
Wire.write(0x6B); //We want to write to the PWR_MGMT_1 register (6B hex)
Wire.write(0x00); //Set the register bits as 00000000 to activate the gyro
Wire.endTransmission(); //End the transmission with the gyro.
//Set the full scale of the gyro to +/- 250 degrees per second
Wire.beginTransmission(gyro_address); //Start communication with the address found during search.
Wire.write(0x1B); //We want to write to the GYRO_CONFIG register (1B hex)
Wire.write(0x00); //Set the register bits as 00000000 (250dps full scale)
Wire.endTransmission(); //End the transmission with the gyro
//Set the full scale of the accelerometer to +/- 4g.
Wire.beginTransmission(gyro_address); //Start communication with the address found during search.
Wire.write(0x1C); //We want to write to the ACCEL_CONFIG register (1A hex)
Wire.write(0x08); //Set the register bits as 00001000 (+/- 4g full scale range)
Wire.endTransmission(); //End the transmission with the gyro
//Set some filtering to improve the raw data.
Wire.beginTransmission(gyro_address); //Start communication with the address found during search
Wire.write(0x1A); //We want to write to the CONFIG register (1A hex)
Wire.write(0x03); //Set the register bits as 00000011 (Set Digital Low Pass Filter to ~43Hz)
Wire.endTransmission(); //End the transmission with the gyro
pinMode(2, OUTPUT); //Configure digital poort 2 as output
pinMode(3, OUTPUT); //Configure digital poort 3 as output
pinMode(4, OUTPUT); //Configure digital poort 4 as output
pinMode(5, OUTPUT); //Configure digital poort 5 as output
pinMode(13, OUTPUT); //Configure digital poort 6 as output
for(receive_counter = 0; receive_counter < 500; receive_counter++){ //Create 500 loops
if(receive_counter % 15 == 0)digitalWrite(13, !digitalRead(13)); //Change the state of the LED every 15 loops to make the LED blink fast
Wire.beginTransmission(gyro_address); //Start communication with the gyro
Wire.write(0x43); //Start reading the Who_am_I register 75h
Wire.endTransmission(); //End the transmission
Wire.requestFrom(gyro_address, 4); //Request 2 bytes from the gyro
gyro_yaw_calibration_value += Wire.read()<<8|Wire.read(); //Combine the two bytes to make one integer
gyro_pitch_calibration_value += Wire.read()<<8|Wire.read(); //Combine the two bytes to make one integer
delayMicroseconds(3700); //Wait for 3700 microseconds to simulate the main program loop time
}
gyro_pitch_calibration_value /= 500; //Divide the total value by 500 to get the avarage gyro offset
gyro_yaw_calibration_value /= 500; //Divide the total value by 500 to get the avarage gyro offset
loop_timer = micros() + 4000; //Set the loop_timer variable at the next end loop time
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Main program loop
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void loop(){
if(Serial.available()){ //If there is serial data available
received_byte = Serial.read(); //Load the received serial data in the received_byte variable
receive_counter = 0; //Reset the receive_counter variable
}
if(receive_counter <= 25)receive_counter ++; //The received byte will be valid for 25 program loops (100 milliseconds)
else received_byte = 0x00; //After 100 milliseconds the received byte is deleted
//Load the battery voltage to the battery_voltage variable.
//85 is the voltage compensation for the diode.
//Resistor voltage divider => (3.3k + 3.3k)/2.2k = 2.5
//12.5V equals ~5V [url=home.php?mod=space&uid=870029]@[/url] Analog 0.
//12.5V equals 1023 analogRead(0).
//1250 / 1023 = 1.222.
//The variable battery_voltage holds 1050 if the battery voltage is 10.5V.
battery_voltage = (analogRead(0) * 1.222) + 85;
if(battery_voltage < 1050 && battery_voltage > 800){ //If batteryvoltage is below 10.5V and higher than 8.0V
digitalWrite(13, HIGH); //Turn on the led if battery voltage is to low
low_bat = 1; //Set the low_bat variable to 1
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Angle calculations
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Wire.beginTransmission(gyro_address); //Start communication with the gyro
Wire.write(0x3F); //Start reading at register 3F
Wire.endTransmission(); //End the transmission
Wire.requestFrom(gyro_address, 2); //Request 2 bytes from the gyro
accelerometer_data_raw = Wire.read()<<8|Wire.read(); //Combine the two bytes to make one integer
accelerometer_data_raw += acc_calibration_value; //Add the accelerometer calibration value
if(accelerometer_data_raw > 8200)accelerometer_data_raw = 8200; //Prevent division by zero by limiting the acc data to +/-8200;
if(accelerometer_data_raw < -8200)accelerometer_data_raw = -8200; //Prevent division by zero by limiting the acc data to +/-8200;
angle_acc = asin((float)accelerometer_data_raw/8200.0)* 57.296; //Calculate the current angle according to the accelerometer
if(start == 0 && angle_acc > -0.5&& angle_acc < 0.5){ //If the accelerometer angle is almost 0
angle_gyro = angle_acc; //Load the accelerometer angle in the angle_gyro variable
start = 1; //Set the start variable to start the PID controller
}
Wire.beginTransmission(gyro_address); //Start communication with the gyro
Wire.write(0x43); //Start reading at register 43
Wire.endTransmission(); //End the transmission
Wire.requestFrom(gyro_address, 4); //Request 4 bytes from the gyro
gyro_yaw_data_raw = Wire.read()<<8|Wire.read(); //Combine the two bytes to make one integer
gyro_pitch_data_raw = Wire.read()<<8|Wire.read(); //Combine the two bytes to make one integer
gyro_pitch_data_raw -= gyro_pitch_calibration_value; //Add the gyro calibration value
angle_gyro += gyro_pitch_data_raw * 0.000031; //Calculate the traveled during this loop angle and add this to the angle_gyro variable
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//MPU-6050 offset compensation
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Not every gyro is mounted 100% level with the axis of the robot. This can be cause by misalignments during manufacturing of the breakout board.
//As a result the robot will not rotate at the exact same spot and start to make larger and larger circles.
//To compensate for this behavior a VERY SMALL angle compensation is needed when the robot is rotating.
//Try 0.0000003 or -0.0000003 first to see if there is any improvement.
gyro_yaw_data_raw -= gyro_yaw_calibration_value; //Add the gyro calibration value
//Uncomment the following line to make the compensation active
//angle_gyro -= gyro_yaw_data_raw * 0.0000003; //Compensate the gyro offset when the robot is rotating
angle_gyro = angle_gyro * 0.9996 + angle_acc * 0.0004; //Correct the drift of the gyro angle with the accelerometer angle
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//PID controller calculations
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//The balancing robot is angle driven. First the difference between the desired angel (setpoint) and actual angle (process value)
//is calculated. The self_balance_pid_setpoint variable is automatically changed to make sure that the robot stays balanced all the time.
//The (pid_setpoint - pid_output * 0.015) part functions as a brake function.
pid_error_temp = angle_gyro - self_balance_pid_setpoint - pid_setpoint;
if(pid_output > 10 || pid_output < -10)pid_error_temp += pid_output * 0.015 ;
pid_i_mem += pid_i_gain * pid_error_temp; //Calculate the I-controller value and add it to the pid_i_mem variable
if(pid_i_mem > 400)pid_i_mem = 400; //Limit the I-controller to the maximum controller output
else if(pid_i_mem < -400)pid_i_mem = -400;
//Calculate the PID output value
pid_output = pid_p_gain * pid_error_temp + pid_i_mem + pid_d_gain * (pid_error_temp - pid_last_d_error);
if(pid_output > 400)pid_output = 400; //Limit the PI-controller to the maximum controller output
else if(pid_output < -400)pid_output = -400;
pid_last_d_error = pid_error_temp; //Store the error for the next loop
if(pid_output < 5 && pid_output > -5)pid_output = 0; //Create a dead-band to stop the motors when the robot is balanced
if(angle_gyro > 30 || angle_gyro < -30 || start == 0 || low_bat == 1){ //If the robot tips over or the start variable is zero or the battery is empty
pid_output = 0; //Set the PID controller output to 0 so the motors stop moving
pid_i_mem = 0; //Reset the I-controller memory
start = 0; //Set the start variable to 0
self_balance_pid_setpoint = 0; //Reset the self_balance_pid_setpoint variable
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Control calculations
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pid_output_left = pid_output; //Copy the controller output to the pid_output_left variable for the left motor
pid_output_right = pid_output; //Copy the controller output to the pid_output_right variable for the right motor
if(received_byte & B00000001){ //If the first bit of the receive byte is set change the left and right variable to turn the robot to the left
pid_output_left += turning_speed; //Increase the left motor speed
pid_output_right -= turning_speed; //Decrease the right motor speed
}
if(received_byte & B00000010){ //If the second bit of the receive byte is set change the left and right variable to turn the robot to the right
pid_output_left -= turning_speed; //Decrease the left motor speed
pid_output_right += turning_speed; //Increase the right motor speed
}
if(received_byte & B00000100){ //If the third bit of the receive byte is set change the left and right variable to turn the robot to the right
if(pid_setpoint > -2.5)pid_setpoint -= 0.05; //Slowly change the setpoint angle so the robot starts leaning forewards
if(pid_output > max_target_speed * -1)pid_setpoint -= 0.005; //Slowly change the setpoint angle so the robot starts leaning forewards
}
if(received_byte & B00001000){ //If the forth bit of the receive byte is set change the left and right variable to turn the robot to the right
if(pid_setpoint < 2.5)pid_setpoint += 0.05; //Slowly change the setpoint angle so the robot starts leaning backwards
if(pid_output < max_target_speed)pid_setpoint += 0.005; //Slowly change the setpoint angle so the robot starts leaning backwards
}
if(!(received_byte & B00001100)){ //Slowly reduce the setpoint to zero if no foreward or backward command is given
if(pid_setpoint > 0.5)pid_setpoint -=0.05; //If the PID setpoint is larger then 0.5 reduce the setpoint with 0.05 every loop
else if(pid_setpoint < -0.5)pid_setpoint +=0.05; //If the PID setpoint is smaller then -0.5 increase the setpoint with 0.05 every loop
else pid_setpoint = 0; //If the PID setpoint is smaller then 0.5 or larger then -0.5 set the setpoint to 0
}
//The self balancing point is adjusted when there is not forward or backwards movement from the transmitter. This way the robot will always find it's balancing point
if(pid_setpoint == 0){ //If the setpoint is zero degrees
if(pid_output < 0)self_balance_pid_setpoint += 0.0015; //Increase the self_balance_pid_setpoint if the robot is still moving forewards
if(pid_output > 0)self_balance_pid_setpoint -= 0.0015; //Decrease the self_balance_pid_setpoint if the robot is still moving backwards
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Motor pulse calculations
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//To compensate for the non-linear behaviour of the stepper motors the folowing calculations are needed to get a linear speed behaviour.
if(pid_output_left > 0)pid_output_left = 405 - (1/(pid_output_left + 9)) * 5500;
else if(pid_output_left < 0)pid_output_left = -405 - (1/(pid_output_left - 9)) * 5500;
if(pid_output_right > 0)pid_output_right = 405 - (1/(pid_output_right + 9)) * 5500;
else if(pid_output_right < 0)pid_output_right = -405 - (1/(pid_output_right - 9)) * 5500;
//Calculate the needed pulse time for the left and right stepper motor controllers
if(pid_output_left > 0)left_motor = 400 - pid_output_left;
else if(pid_output_left < 0)left_motor = -400 - pid_output_left;
else left_motor = 0;
if(pid_output_right > 0)right_motor = 400 - pid_output_right;
else if(pid_output_right < 0)right_motor = -400 - pid_output_right;
else right_motor = 0;
//Copy the pulse time to the throttle variables so the interrupt subroutine can use them
throttle_left_motor = left_motor;
throttle_right_motor = right_motor;
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Loop time timer
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//The angle calculations are tuned for a loop time of 4 milliseconds. To make sure every loop is exactly 4 milliseconds a wait loop
//is created by setting the loop_timer variable to +4000 microseconds every loop.
while(loop_timer > micros());
loop_timer += 4000;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Interrupt routine TIMER2_COMPA_vect
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ISR(TIMER2_COMPA_vect){
//Left motor pulse calculations
throttle_counter_left_motor ++; //Increase the throttle_counter_left_motor variable by 1 every time this routine is executed
if(throttle_counter_left_motor > throttle_left_motor_memory){ //If the number of loops is larger then the throttle_left_motor_memory variable
throttle_counter_left_motor = 0; //Reset the throttle_counter_left_motor variable
throttle_left_motor_memory = throttle_left_motor; //Load the next throttle_left_motor variable
if(throttle_left_motor_memory < 0){ //If the throttle_left_motor_memory is negative
PORTD &= 0b11110111; //Set output 3 low to reverse the direction of the stepper controller
throttle_left_motor_memory *= -1; //Invert the throttle_left_motor_memory variable
}
else PORTD |= 0b00001000; //Set output 3 high for a forward direction of the stepper motor
}
else if(throttle_counter_left_motor == 1)PORTD |= 0b00000100; //Set output 2 high to create a pulse for the stepper controller
else if(throttle_counter_left_motor == 2)PORTD &= 0b11111011; //Set output 2 low because the pulse only has to last for 20us
//right motor pulse calculations
throttle_counter_right_motor ++; //Increase the throttle_counter_right_motor variable by 1 every time the routine is executed
if(throttle_counter_right_motor > throttle_right_motor_memory){ //If the number of loops is larger then the throttle_right_motor_memory variable
throttle_counter_right_motor = 0; //Reset the throttle_counter_right_motor variable
throttle_right_motor_memory = throttle_right_motor; //Load the next throttle_right_motor variable
if(throttle_right_motor_memory < 0){ //If the throttle_right_motor_memory is negative
PORTD |= 0b00100000; //Set output 5 low to reverse the direction of the stepper controller
throttle_right_motor_memory *= -1; //Invert the throttle_right_motor_memory variable
}
else PORTD &= 0b11011111; //Set output 5 high for a forward direction of the stepper motor
}
else if(throttle_counter_right_motor == 1)PORTD |= 0b00010000; //Set output 4 high to create a pulse for the stepper controller
else if(throttle_counter_right_motor == 2)PORTD &= 0b11101111; //Set output 4 low because the pulse only has to last for 20us
} 复制代码 
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