Avans/Controller
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Joystick offset calculation

Browse Source
This commit is contained in:
jancoow
2016-05-23 22:30:59 +02:00
parent c9bb6b525e
commit 907408e31d
1 changed files with 12 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Controller/Controller.ino
+12 -11
View File
@@ -34,18 +34,13 @@ struct SwitchData{
MPU6050 mpu; MPU6050 mpu;
bool dmpReady = false; // set true if DMP init was successful bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU 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 packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars // orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
@@ -53,6 +48,9 @@ void dmpDataReady() {
mpuInterrupt = true; mpuInterrupt = true;
} }
//Joystick offsets
int joystickoffset_x, joystickoffset_y;
//Data buffer for sensors //Data buffer for sensors
struct MPU6050Data mpu6050data = {0}; struct MPU6050Data mpu6050data = {0};
struct JoystickData joystickdata = {0}; struct JoystickData joystickdata = {0};
@@ -66,7 +64,7 @@ WiFiUDP Udp;
void setup(void){ void setup(void){
Serial.begin(115200); Serial.begin(115200);
Serial.println(); Serial.println("Starting controller..");
WiFi.mode(WIFI_STA); WiFi.mode(WIFI_STA);
WiFi.disconnect(); WiFi.disconnect();
EEPROM.begin(512); EEPROM.begin(512);
@@ -79,19 +77,22 @@ void setup(void){
pinMode(13,INPUT); pinMode(13,INPUT);
//clearEeprom(); //clearEeprom();
connectLastBasestation(); //connectLastBasestation();
//searchBasestation(); searchBasestation();
delay(1000); delay(1000);
ads.begin(); ads.begin();
joystickoffset_x = ads.readADC_SingleEnded(0);
joystickoffset_y = ads.readADC_SingleEnded(1);
mpu6050setup(); mpu6050setup();
} }
void mpu6050setup(){ void mpu6050setup(){
mpu.initialize(); mpu.initialize();
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
devStatus = mpu.dmpInitialize(); int devStatus = mpu.dmpInitialize();
mpu.setXGyroOffset(62); mpu.setXGyroOffset(62);
mpu.setYGyroOffset(25); mpu.setYGyroOffset(25);
@@ -159,8 +160,8 @@ void loop(void){
} }
void readJoystick(struct JoystickData *joystickdata){ void readJoystick(struct JoystickData *joystickdata){
joystickdata->x = ads.readADC_SingleEnded(0); joystickdata->x = ads.readADC_SingleEnded(0) - joystickoffset_x;
joystickdata->y = ads.readADC_SingleEnded(1); joystickdata->y = ads.readADC_SingleEnded(1) - joystickoffset_y;
} }
void readFifoMpu6050(struct MPU6050Data *mpu6050data){ void readFifoMpu6050(struct MPU6050Data *mpu6050data){