add the examples

2026-05-20 10:23:14 -07:00 · 2018-08-03 18:00:16 +08:00
parent 162f8ecba5
commit c42cfe230a
3 changed files with 293 additions and 0 deletions
@@ -0,0 +1,40 @@
+/********************************************************
+ * M5Bala balance car Basic Example
+ * Reading encoder and writting the motor via I2C
+ ********************************************************/
+
+#include <M5Stack.h>
+#include <Wire.h>
+#include "M5Bala.h"
+
+M5Bala m5bala(Wire);
+
+void setup() {
+  // Power ON Stabilizing...
+  delay(500);
+  M5.begin();
+
+  // Init I2C
+  Wire.begin();
+  Wire.setClock(400000UL);  // Set I2C frequency to 400kHz
+  delay(500);
+
+  // Display info
+  M5.Lcd.setTextFont(2);
+  M5.Lcd.setTextColor(WHITE, BLACK);
+  M5.Lcd.println("M5Stack Balance Mode start");
+
+  // Init M5Bala
+  m5bala.begin();
+  // m5bala.imu->calcGyroOffsets(true);
+  m5bala.imu->setGyroOffsets(-2.70, -1.08, 0.87);
+}
+
+void loop() {
+
+  // M5Bala run
+  m5bala.run();
+
+  // M5 Loop
+  M5.update();
+}
@@ -0,0 +1,107 @@
+/********************************************************
+ * M5Bala balance car Basic Example
+ * Reading encoder and writting the motor via I2C
+ ********************************************************/
+
+#include <M5Stack.h>
+#include <Wire.h>
+#include <Preferences.h>
+#include "M5Bala.h"
+
+#include <BlynkSimpleEsp32_BLE.h>
+#include <BLEDevice.h>
+#include <BLEServer.h>
+
+Preferences preferences;
+
+M5Bala m5bala(Wire);
+
+char auth[] = "23fd9b0986474e97a4976b6d89c9357d";
+
+void auto_tune_gyro_offset();
+
+
+void setup() {
+	// Power ON Stabilizing...
+	delay(500);
+	M5.begin();
+	M5.setPowerBoostKeepOn(false);
+
+	// Init I2C
+	Wire.begin();
+	Wire.setClock(400000UL);  // Set I2C frequency to 400kHz
+	delay(500);
+
+	// Display info
+	M5.Lcd.setTextFont(2);
+	M5.Lcd.setTextColor(WHITE, BLACK);
+	M5.Lcd.println("M5Stack Balance Mode start");
+
+	// Init M5Bala
+	m5bala.begin();
+
+	// Loading the IMU parameters
+	if (M5.BtnC.isPressed()) {
+		preferences.begin("m5bala-cfg", false);
+		auto_tune_gyro_offset();
+
+	} else {
+		preferences.begin("m5bala-cfg", true);
+		m5bala.imu->setGyroOffsets( preferences.getFloat("gyroXoffset"), 
+                                preferences.getFloat("gyroYoffset"), 
+                                preferences.getFloat("gyroZoffset"));
+	}
+
+	// Blynk start
+	Blynk.setDeviceName("M5BOT Blynk");
+	Blynk.begin(auth);
+}
+
+void loop() {
+
+	// M5Bala balance run
+	m5bala.run();
+
+	// Blynk control
+	Blynk.run();
+
+	// M5 Loop
+	M5.update();
+}
+
+
+BLYNK_WRITE(V0) {
+	int16_t joystick_X = param[0].asInt();
+	int16_t joystick_Y = param[1].asInt();
+
+	m5bala.move(joystick_Y);
+	m5bala.turn(joystick_X);
+}
+
+
+// ================ GYRO offset param ==================
+void auto_tune_gyro_offset() {
+	M5.Speaker.tone(500, 200);
+	delay(300);
+	M5.update();
+	M5.Lcd.println("Start IMU calculate gyro offsets");
+	M5.Lcd.println("DO NOT MOVE A MPU6050...");
+	delay(2000);
+
+	m5bala.imu->calcGyroOffsets(true);
+	float gyroXoffset = m5bala.imu->getGyroXoffset();
+	float gyroYoffset = m5bala.imu->getGyroYoffset();
+	float gyroZoffset = m5bala.imu->getGyroZoffset();
+	M5.Lcd.println("Done!!!");
+	M5.Lcd.print("X : ");M5.Lcd.println(gyroXoffset);
+	M5.Lcd.print("Y : ");M5.Lcd.println(gyroYoffset);
+	M5.Lcd.print("Z : ");M5.Lcd.println(gyroZoffset);
+	M5.Lcd.println("Program will start after 3 seconds");
+	M5.Lcd.print("========================================");
+
+	// Save
+	preferences.putFloat("gyroXoffset", gyroXoffset);
+	preferences.putFloat("gyroYoffset", gyroYoffset);
+	preferences.putFloat("gyroZoffset", gyroZoffset);
+	preferences.end();
+}
@@ -0,0 +1,146 @@
+/********************************************************
+ * M5Bala balance car Basic Example
+ * Reading encoder and writting the motor via I2C
+ ********************************************************/
+
+#include <M5Stack.h>
+#include <NeoPixelBus.h>
+#include <Wire.h>
+#include <Preferences.h>
+#include "M5Bala.h"
+
+Preferences preferences;
+
+M5Bala m5bala(Wire);
+
+// ==================== NeoPixel =====================
+const uint16_t PixelCount = 10;
+const uint8_t PixelPin = 15;
+
+#define colorSaturation 10
+// three element pixels, in different order and speeds
+NeoPixelBus<NeoGrbFeature, Neo800KbpsMethod> strip(PixelCount, PixelPin);
+RgbColor white(colorSaturation);
+
+void LED_start() {
+	strip.Begin();
+	for (int i = 0; i < 10; i++) {
+		strip.SetPixelColor(i, white);
+	}
+	strip.Show();
+}
+
+// ================ Draw Angle Wavefrom =================
+void draw_waveform() {
+	#define MAX_LEN 120
+	#define X_OFFSET 0
+	#define Y_OFFSET 100
+	#define X_SCALE 3
+	static int16_t val_buf[MAX_LEN] = {0};
+	static int16_t pt = MAX_LEN - 1;
+
+	val_buf[pt] = constrain((int16_t)(m5bala.getAngle() * X_SCALE), -80, 80);
+	if (--pt < 0) {
+		pt = MAX_LEN - 1;
+	}
+
+	for (int i = 1; i < (MAX_LEN); i++) {
+		uint16_t now_pt = (pt + i) % (MAX_LEN);
+		M5.Lcd.drawLine(i, val_buf[(now_pt + 1) % MAX_LEN] + Y_OFFSET, i + 1,
+							val_buf[(now_pt + 2) % MAX_LEN] + Y_OFFSET, TFT_BLACK);
+		if (i < MAX_LEN - 1)
+			M5.Lcd.drawLine(i, val_buf[now_pt] + Y_OFFSET, i + 1,
+							val_buf[(now_pt + 1) % MAX_LEN] + Y_OFFSET, TFT_GREEN);
+	}
+}
+
+// ================ GYRO offset param ==================
+void auto_tune_gyro_offset() {
+	M5.Speaker.tone(500, 200);
+	delay(300);
+	M5.update();
+	M5.Lcd.println("Start IMU calculate gyro offsets");
+	M5.Lcd.println("DO NOT MOVE A MPU6050...");
+	delay(2000);
+
+	m5bala.imu->calcGyroOffsets(true);
+	float gyroXoffset = m5bala.imu->getGyroXoffset();
+	float gyroYoffset = m5bala.imu->getGyroYoffset();
+	float gyroZoffset = m5bala.imu->getGyroZoffset();
+	M5.Lcd.println("Done!!!");
+	M5.Lcd.print("X : ");M5.Lcd.println(gyroXoffset);
+	M5.Lcd.print("Y : ");M5.Lcd.println(gyroYoffset);
+	M5.Lcd.print("Z : ");M5.Lcd.println(gyroZoffset);
+	M5.Lcd.println("Program will start after 3 seconds");
+	M5.Lcd.print("========================================");
+
+	// Save
+	preferences.putFloat("gyroXoffset", gyroXoffset);
+	preferences.putFloat("gyroYoffset", gyroYoffset);
+	preferences.putFloat("gyroZoffset", gyroZoffset);
+	preferences.end();
+}
+
+
+void setup() {
+	// Power ON Stabilizing...
+	delay(500);
+	M5.begin();
+	M5.setPowerBoostKeepOn(false);
+
+	// Turn on LED BAR
+	LED_start();
+
+	// Init I2C
+	Wire.begin();
+	Wire.setClock(400000UL);  // Set I2C frequency to 400kHz
+	delay(500);
+
+	// Display info
+	M5.Lcd.setTextFont(2);
+	M5.Lcd.setTextColor(WHITE, BLACK);
+	M5.Lcd.println("M5Stack Balance Mode start");
+
+	// Init M5Bala
+	m5bala.begin();
+
+	// Loading the IMU parameters
+	if (M5.BtnC.isPressed()) {
+		preferences.begin("m5bala-cfg", false);
+		auto_tune_gyro_offset();
+
+	} else {
+		preferences.begin("m5bala-cfg", true);
+		m5bala.imu->setGyroOffsets( preferences.getFloat("gyroXoffset"), 
+                                preferences.getFloat("gyroYoffset"), 
+                                preferences.getFloat("gyroZoffset"));
+	}
+}
+
+void loop() {
+
+	// LCD display
+	static uint32_t print_interval = millis() + 30;
+	if (millis() > print_interval) {
+		print_interval = millis() + 100;
+		M5.Lcd.setCursor(0, 190);
+		M5.Lcd.printf("Input  Encoer0: %+4d  Encoer0: %+4d    \r\n", 
+								m5bala.getSpeed0(), m5bala.getSpeed1());
+		M5.Lcd.printf("Output PWM0: %+4d     PWM1: %+4d    \r\n", 
+								m5bala.getOut0(), m5bala.getOut1());
+		M5.Lcd.printf("AngleX: %+05.2f\r\n", m5bala.getAngle());
+	}
+
+	// Draw the waveform
+	static uint32_t draw_interval = millis() + 5;
+	if (millis() > draw_interval) {
+		draw_interval = millis() + 20;
+		draw_waveform();
+	}
+
+	// M5Bala balance run
+	m5bala.run();
+
+	// M5 Loop
+	M5.update();
+}