Hi, my project is to control the robot to move forward, left, right, and backward. Robot need to move forward at all time at 0degree. If the robot moves 15degree offset, the gyro sensor will set motor back to 0degree. The problem now is, I cant move left or right because the gyro keeps the robot at 0degree. How can I loop forward direction, left direction, right direction separately?
tq in advance
#include "I2Cdev.h"
#include <AFMotor.h>
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
AF_DCMotor motor1(1, MOTOR12_8KHZ); // create motor #1, 8KHz pwm
AF_DCMotor motor2(2, MOTOR12_8KHZ); // create motor #2, 8KHz pwm
AF_DCMotor motor3(3, MOTOR34_8KHZ); // create motor #3, 8KHz pwm
MPU6050 mpu;
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// 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
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
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '
, 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(9600);
mpu.initialize();
devStatus = mpu.dmpInitialize();
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1688); // 1688 factory default for my test chip
if (devStatus == 0) {
mpu.setDMPEnabled(true);
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
dmpReady = true;
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
}
pinMode(LED_PIN, OUTPUT);
}
void draw(void) {
Serial.print("MPU 6050");
Serial.print("YAW :");Serial.print("\t");
Serial.print(ypr[0] * 180/M_PI);Serial.print("\t");
Serial.print("PITCH:");Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);Serial.print("\t");
Serial.print("ROLL :");Serial.print("\t");
Serial.print(ypr[2] * 180/M_PI);Serial.println("\t");
Serial.print( ypr[0]);
}
void getypr()
{
if (!dmpReady) return;
while (!mpuInterrupt && fifoCount < packetSize) {
}
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
mpu.resetFIFO();
} 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);
delay(350);
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
delay(350);
}
}
void loop() {
draw();
getypr();
bluetooth(); // call bluetooth function
if((ypr[0] * 180/M_PI>1 && ypr[0] * 180/M_PI<15))
{
Serial.println(" +Less stable");
motor1.run(BACKWARD);
motor1.setSpeed(200);
motor2.run(BACKWARD);
motor2.setSpeed(200);
}
else if(ypr[0] * 180/M_PI>-15 && ypr[0] * 180/M_PI<-1)
{
Serial.println(" -Less stable");
motor1.run(FORWARD);
motor1.setSpeed(200);
motor2.run(FORWARD);
motor2.setSpeed(200);
}
else if(ypr[0] * 180/M_PI>-15 && ypr[0] * 180/M_PI<15)
{
Serial.println(" -move right");
motor1.run(RELEASE);
motor2.run(RELEASE);
}
}
void bluetooth(){
while(Serial.available()) {
delay(100);
char data=Serial.read();
if(data == '1'){
Serial.println("Forward");
forward();
draw();
getypr();
if(ypr[0] * 180/M_PI>15 && ypr[0] * 180/M_PI<80)
{ Serial.println(" -Less stable");
motor1.run(BACKWARD);
motor1.setSpeed(150);
motor2.run(BACKWARD);
motor2.setSpeed(150);
}
else if(ypr[0] * 180/M_PI>-80 && ypr[0] * 180/M_PI<-15)
{
Serial.println(" +Less stable");
motor1.run(FORWARD);
motor1.setSpeed(150);
motor2.run(FORWARD);
motor2.setSpeed(150);
}
delay(50);
}
else if (data =='2'){
Serial.println("Left");
left();
delay(50);
}
else if (data =='3'){
Serial.println("Right");
right();
delay(50);
}
else if(data =='4'){
Serial.println("Backward");
backward();
delay(50);
}
else if(data =='8'){
Serial.println("Forward Right");
forwardright();
delay(50);
}
else if(data =='6'){
Serial.println("Forward Left");
forwardleft();
delay(50);
}
else if(data =='7'){
Serial.println("Back right");
backright();
delay(50);
}
else if(data =='9'){
Serial.println("Back left");
backleft();
delay(50);
}
else if(data =='5'){
Serial.println("Stop");
Stop();
delay(50);
}
}
}
void forward()
{
motor1.run(FORWARD);
motor1.setSpeed(230);
motor2.run(BACKWARD);
motor2.setSpeed(230);
delay(500);
}
void backward()
{
motor1.run(BACKWARD);
motor1.setSpeed(230);
motor2.run(FORWARD);
motor2.setSpeed(230);
delay(500);
}
void Stop()
{
motor1.run(RELEASE);
motor2.run(RELEASE);
delay(500);
}
void left()
{
motor1.run(BACKWARD);
motor1.setSpeed(150);
motor2.run(BACKWARD);
motor2.setSpeed(150);
// motor3.run(BACKWARD);
// motor3.setSpeed(255);
delay(500);
}
void right()
{
motor1.run(FORWARD);
motor1.setSpeed(150);
motor2.run(FORWARD);
motor2.setSpeed(150);
// motor3.run(FORWARD);
// motor3.setSpeed(255);
delay(500);
}
void forwardright()
{
motor1.run(BACKWARD);
motor1.setSpeed(200);
motor2.run(FORWARD);
motor2.setSpeed(255);
delay(500);
}
void forwardleft()
{
motor1.run(BACKWARD);
motor1.setSpeed(255);
motor2.run(FORWARD);
motor2.setSpeed(200);
delay(500);
}
void backright()
{
motor1.run(FORWARD);
motor1.setSpeed(255);
motor2.run(RELEASE);
motor3.run(BACKWARD);
motor3.setSpeed(200);
delay(500);
}
void backleft()
{
motor1.run(RELEASE);
motor2.run(BACKWARD);
motor2.setSpeed(255);
motor3.run(FORWARD);
motor3.setSpeed(255);
delay(500);
}