14. 밸런싱 로봇

밸런싱 로봇 

▼ 회로도 

▼소스 코드 

#include "PID_v1.h"
#include "LMotorController.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
 
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif
 
#define MIN_ABS_SPEED 20
 
MPU6050 mpu;
 
// 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
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
 
//PID
//double originalSetpoint = 175.8;
double originalSetpoint = 175;    // setpoint가 줄어들수록 뒤로 간다
 
double setpoint = originalSetpoint;
double movingAngleOffset = 0.45;
double input, output;
int moveState=0; //0 = balance; 1 = back; 2 = forth
 
double Kp = 20*0.90;
double Kd = 0.7;
double Ki = 60;
 
 
PID pid(&input, &output, &setpoint, Kp, Ki, Kd, DIRECT);
 
//double motorSpeedFactorLeft = 0.6;
//double motorSpeedFactorRight = 0.5;
double motorSpeedFactorLeft = 1;
double motorSpeedFactorRight = 1;
 
//MOTOR CONTROLLER
int ENA = 2;
int IN1 = 5;
int IN2 = 4;
int IN3 = 7;
int IN4 = 6;
int ENB = 3;
LMotorController motorController(ENA, IN1, IN2, ENB, IN3, IN4, motorSpeedFactorLeft, motorSpeedFactorRight);
 
//timers
long time1Hz = 0;
long time5Hz = 0;
 
volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{
    mpuInterrupt = true;
}
 
 
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
 
    // 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
 
    // 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"));
 
    // 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(4, dmpDataReady, RISING); //Mega 19pin 
        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();
        
        //setup PID
        
        pid.SetMode(AUTOMATIC);
        pid.SetSampleTime(10);
        pid.SetOutputLimits(-255, 255);  
    }
    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(")"));
    }
}
 
 
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)
    {
        //no mpu data - performing PID calculations and output to motors
        
        pid.Compute();
        
        motorController.move(output, MIN_ABS_SPEED);
        
    }
 
    // 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;
 
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
        #if LOG_INPUT
            Serial.print("ypr\t");
            Serial.print(ypr[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(ypr[1] * 180/M_PI);
            Serial.print("\t");
            Serial.println(ypr[2] * 180/M_PI);
        #endif
        input = ypr[1] * 180/M_PI + 180;
   }
   unsigned long currentMillis = millis();
   
   if (currentMillis - time5Hz >= 3000)
   {
      //moveBackForth();
      time5Hz = currentMillis;
      
   }
}
 
//move back and forth
 
 
void moveBackForth()
{
 moveState++;
 if (moveState > 2) moveState = 0;
  
 if (moveState == 0)
    setpoint = originalSetpoint;
 else if (moveState == 1)
    setpoint = originalSetpoint -1.50; //backward
 else
    setpoint = originalSetpoint+1.50; //forward
}
 

▼ 밸런싱 로봇 소스코드 다운로드

AmBOT_final_nano_1023.zip

▼ 소스코드 출처 

https://github.com/kurimawxx00/arduino-self-balancing-robot

▼ 동영상