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91 lines
2.5 KiB
C++
Executable File
91 lines
2.5 KiB
C++
Executable File
// The MIT License (MIT)
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//
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// Copyright (c) 2018 M5Stack
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// Author: bin@m5stack.com (0x1abin)
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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#ifndef _M5BALA_H
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#define _M5BALA_H
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#include "Arduino.h"
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#include "Wire.h"
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#include "imuCalibration.h"
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#define MOTOR_RPM 150
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#define MAX_PWM 255
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#define DEAD_ZONE 20
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#define M5GO_WHEEL_ADDR 0x56
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#define MOTOR_CTRL_ADDR 0x00
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#define ENCODER_ADDR 0x04
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class M5Bala {
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public:
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M5Bala();
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M5Bala(TwoWire &w);
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void begin();
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void run();
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void PIDCompute();
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void setMotor(int16_t pwm0, int16_t pwm1);
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void readEncder();
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uint8_t i2c_readByte(uint8_t address, uint8_t subAddress);
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void setAngleOffset(float offset) {
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angle_offset = offset;
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};
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float getAngle() {
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return pitch;
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};
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int16_t getSpeed0() {
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return speed_input0;
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};
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int16_t getSpeed1() {
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return speed_input1;
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};
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int16_t getOut0() {
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return pwm_out0;
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};
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int16_t getOut1() {
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return pwm_out1;
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};
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int16_t left_offset, right_offset;
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int16_t forward_offset;
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// control
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void stop();
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void move(int16_t speed, uint16_t duration = 0);
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void turn(int16_t speed, uint16_t duration = 0);
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void rotate(int16_t speed, uint16_t duration = 0);
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private:
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TwoWire *wire;
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float yaw, pitch, roll;
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int16_t speed_input0, speed_input1;
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int16_t pwm_out0, pwm_out1;
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int8_t angle_offset;
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uint32_t loop_interval;
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float K1, K2, K3, K4, K5;
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uint8_t imu_id;
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};
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#endif
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