caperren/osurc_mars_rover_2017_2018
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Finished firmware for tower pan/tilt node. Also made the ROS node for it. Just needs to be installed on Rover.

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This commit is contained in:
Corwin Perren
2018-05-26 15:32:17 -07:00
parent fea235fc67
commit 897e0fa3d2
6 changed files with 348 additions and 21 deletions
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41
software/firmware/tower/tower.ino
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@@ -26,12 +26,12 @@
temp (deg c)
*/
Adafruit_BNO055 bno = Adafruit_BNO055(WIRE_BUS, -1, BNO055_ADDRESS_A, I2C_MASTER, I2C_PINS_18_19, I2C_PULLUP_INT, I2C_RATE_100, I2C_OP_MODE_ISR);
Adafruit_BNO055 bno = Adafruit_BNO055(WIRE_BUS, -1, BNO055_ADDRESS_A, I2C_MASTER, I2C_PINS_29_30, I2C_PULLUP_INT, I2C_RATE_100, I2C_OP_MODE_ISR);
#define gpsPort Serial3
#define commsPort Serial2
#define GPS_PORT_NAME "Serial3"
#define gpsPort Serial2
#define commsPort Serial3
#define GPS_PORT_NAME "Serial2"
const unsigned char ubxRate5Hz[] = { 0x06, 0x08, 0x06, 0x00, 200, 0x00, 0x01, 0x00, 0x01, 0x00 };
const unsigned char ubxRate10Hz[] = { 0x06, 0x08, 0x06, 0x00, 100, 0x00, 0x01, 0x00, 0x01, 0x00 };
@@ -69,21 +69,26 @@ void sendUBX( const unsigned char *progmemBytes, size_t len )
}
void setup() {
Serial.begin(9600);
while (!Serial);
Serial.println("Booting up");
// put your setup code here, to run once:
commsPort.begin(115200);
commsPort.transmitterEnable(6);
commsPort.transmitterEnable(3);
delay(250);
gpsPort.begin(9600);
sendUBX( ubxRate5Hz, sizeof(ubxRate5Hz) );
// sendUBX( ubxRate5Hz, sizeof(ubxRate5Hz) );
Serial.println("Setting up IMU");
if (!bno.begin()) {
/* There was a problem detecting the BNO055 ... check your connections */
commsPort.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
while (1);
}
Serial.println("IMU Online. Setting to external crystal.");
bno.setExtCrystalUse(true);
Serial.println("IMU Configured.");
}
@@ -113,34 +118,34 @@ void loop() {
commsPort.print(",");
commsPort.print("oy:");
commsPort.print(quat.y(), float_decimal_places);
commsPort.print(",");
commsPort.print(",");
commsPort.print("oz:");
commsPort.print(quat.z(), float_decimal_places);
commsPort.print(",");
commsPort.print(",");
commsPort.print("ow:");
commsPort.print(quat.w(), float_decimal_places);
commsPort.print(",");
commsPort.print(",");
commsPort.print("lax:");
commsPort.print(linear_accel.x(), float_decimal_places);
commsPort.print(",");
commsPort.print(",");
commsPort.print("lay:");
commsPort.print(linear_accel.y(), float_decimal_places);
commsPort.print(",");
commsPort.print(",");
commsPort.print("laz:");
commsPort.print(linear_accel.z(), float_decimal_places);
commsPort.print(",");
commsPort.print(",");
commsPort.print("avx:");
commsPort.print(angular_vel.x(), float_decimal_places);
commsPort.print(",");
commsPort.print(",");
commsPort.print("avy:");
commsPort.print(angular_vel.y(), float_decimal_places);
commsPort.print(",");
commsPort.print(",");
commsPort.print("avz:");
commsPort.print(angular_vel.z(), float_decimal_places);
commsPort.println();
//