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three-omni-wheel-vehicle-control.ino
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#include <avr/io.h>
#include "Motor.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "MPU6050.h"
#include "MPU.h"
#define MASK(k) ((unsigned char)(1 << k))
/*=========================
Global variables
=========================*/
BaseMotor* bm;
bool flag = false;
uint16_t b_speed = 500;
bool toggleKi = false;
void displayMotorSpeeds(BaseMotor* bm) {
Serial.print("M1: ");
Serial.print(bm->getM1());
Serial.print("\n");
Serial.print("M2: ");
Serial.print(bm->getM2());
Serial.print("\n");
Serial.print("M3: ");
Serial.print(bm->getM3());
Serial.print("\n");
}
void basicMotionWithApp(String key) {
// up, down, left, right
// CW and ACW
if (key == "UP") {
bm->moveMachine(b_speed - z, 0, 0);
} else if (key == "DOWN") {
bm->moveMachine(b_speed - z, 180, 0);
} else if (key == "LEFT") {
bm->moveMachine(b_speed - z, 90, 0);
} else if (key == "RIGHT") {
bm->moveMachine(b_speed - z, -90, 0);
} else if (key == "UPRIGHT") {
bm->moveMachine(b_speed - z, -45, 0);
} else if (key == "UPLEFT") {
bm->moveMachine(b_speed - z, 45, 0);
} else if (key == "DOWNLEFT") {
bm->moveMachine(b_speed - z, 45 + 90, 0);
} else if (key == "DOWNRIGHT") {
bm->moveMachine(b_speed - z, -45 - 90, 0);
} else if (key == "CROSS") {
bm->setMotorSpeeds(0, 0, 0);
while (1)
;
} else if (key == "CIRCLE") {
bm->setMotorSpeeds(300, 300, 300);
} else if (key == "SQUARE") {
bm->setMotorSpeeds(-300, -300, -300);
} else if (key == "TRI") {
} else {
bm->setMotorSpeeds(0, 0, 0);
}
}
void basicMotionWithAppPID(String key) {
// up, down, left, right
// CW and ACW
if (key == "UP") {
bm->moveMachineWithPID(b_speed, 0, 0);
} else if (key == "DOWN") {
bm->moveMachineWithPID(b_speed, 180, 0);
} else if (key == "LEFT") {
bm->moveMachineWithPID(b_speed, 90, 0);
} else if (key == "RIGHT") {
bm->moveMachineWithPID(b_speed, -90, 0);
} else if (key == "UPRIGHT") {
bm->moveMachineWithPID(b_speed, -45, 0);
} else if (key == "UPLEFT") {
bm->moveMachineWithPID(b_speed, 45, 0);
} else if (key == "DOWNLEFT") {
bm->moveMachineWithPID(b_speed, 45 + 90, 0);
} else if (key == "DOWNRIGHT") {
bm->moveMachineWithPID(b_speed, -45 - 90, 0);
} else if (key == "CROSS") {
bm->setMotorSpeeds(0, 0, 0);
while (1)
;
} else if (key == "CIRCLE") {
bm->setMotorSpeeds(300, 300, 300);
} else if (key == "SQUARE") {
bm->setMotorSpeeds(-300, -300, -300);
} else if (key == "TRI") {
set_mpu();
delay(100);
} else {
bm->moveMachineWithPID(0, 0, z);
}
}
/**
Globally defined keys
*/
String keys[] = {
"UP",
"DOWN",
"LEFT",
"RIGHT",
"UPRIGHT",
"UPLEFT",
"DOWNRIGHT",
"DOWNLEFT",
"TRI",
"CROSS",
"SQUARE",
"CIRCLE",
"ZZZ_UP",
"ZZZ_DOWN",
"ZZZ_LEFT",
"ZZZ_RIGHT",
"ZZZ_TRI",
"ZZZ_SQUARE",
"ZZZ_CIRCLE",
"ZZZ_SQUARE",
"ZZZ_UPRIGHT",
"ZZZ_UPLEFT",
"ZZZ_DOWNRIGHT",
"ZZZ_DOWNLEFT"
};
bool filterData(String key) {
const int N = 24;
for (int i = 0; i < N; ++i) {
if (key == keys[i]) {
return true;
}
}
const int len = key.length();
if (key[0] == "<" && key[len - 1] == ">") return true;
return false;
}
void setup() {
bm = new BaseMotor();
Serial.begin(115200);
Serial2.begin(74880);
// set_mpu();
// printParams();
}
void loop() {
// pid_mpu(); // update MPU data
// printParams();
// delay(100);
// bm->setPID(P, I, D); // update P, I, D parameter
// bm->moveMachineWithPID(0, 0, z);
String key = "";
while (Serial2.available()) {
char c = Serial2.read();
key += c;
}
if (key != ""
&& filterData(key)) {
Serial.println(key);
basicMotionWithApp(key);
// basicMotionWithAppPID(key);
}
delay(10);
}