Giải thích Code

Ai có file giải thích code xe 2 bánh tự cân bằng hay có thể thuyết minh cho mk code này không ạ mk xin cảm ơn ạ.
#include <PID_v1.h>
#include <LMotorController.h>
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"

#include "Wire.h"

#define MIN_ABS_SPEED 30

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

double originalSetpoint = 172.50;
double setpoint = originalSetpoint;
double movingAngleOffset = 0.1;
double input, output;

//adjust these values to fit your own design
double Kp = 60;
double Kd = 2.2;
double Ki = 270;
PID pid(&input, &output, &setpoint, Kp, Ki, Kd, DIRECT);

double motorSpeedFactorLeft = 0.6;
double motorSpeedFactorRight = 0.5;

int ENA = 5;
int IN1 = 6;
int IN2 = 7;
int IN3 = 9;
int IN4 = 8;
int ENB = 10;
LMotorController motorController(ENA, IN1, IN2, ENB, IN3, IN4, motorSpeedFactorLeft, motorSpeedFactorRight);

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)
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
Fastwire::setup(400, true);


devStatus = mpu.dmpInitialize();

// supply your own gyro offsets here, scaled for min sensitivity
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

// enable Arduino interrupt detection
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();

// set our DMP Ready flag so the main loop() function knows it's okay to use it
dmpReady = true;

// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();

//setup PID
pid.SetOutputLimits(-255, 255);
// 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 "));

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
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
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);
input = ypr[1] * 180/M_PI + 180;

Google translate from Vietnames

@ batuan2011, chủ đề của bạn đã được chuyển sang mục phù hợp hơn trong diễn đàn.

Rất tiếc là không có phần tiếng Việt trong diễn đàn này.

This topic was automatically closed 120 days after the last reply. New replies are no longer allowed.