M5stickC+ジョイスティックユニットでPCマウスを作ったのですが，それを使って試しにM5stackのバランスカーを操作してみようと思いました．
ＰＣマウス作成はこちら↓
https://qiita.com/shirox22/items/9ce30d7ef57bd78839bd
BALA-Cの本体側コードは，Kiraku-Labo さん，@copperceleさんのコードを参考にしました．
BLEでのマウス操作のloopと，MPU6886での倒立制御のloopを，同時に処理する必要があるため，マルチタスク機能を使う必要があります．
void task0(void* pvParameters)
の方に，倒立制御のloopを入れ込み，
void loop()
の方に，bluetoothのloopを入れこみました．
マルチタスクの必要性に気づかず，ここにかなりハマってしまったので，参考にしてみてください．
BALA-C本体側のコードを見る
// BalaC balancing robot (IMU:MPU6886)
#include <BLEDevice.h>
#include <BLEUtils.h>
#include <BLEScan.h>
#include <BLEAdvertisedDevice.h>
#include <M5StickC.h>
#define LED 10
#define N_CAL1 100
#define N_CAL2 100
#define LCDV_MID 60
boolean serialMonitor = true;
boolean standing = false;
int16_t counter = 0;
uint32_t time0 = 0, time1 = 0;
int16_t counterOverPwr = 0, maxOvp = 20;
float power, powerR, powerL, yawPower;
float varAng, varOmg, varSpd, varDst, varIang;
float gyroXoffset, gyroYoffset, gyroZoffset, accXoffset;
float gyroXdata, gyroYdata, gyroZdata, accXdata, accZdata;
float aveAccX = 0.0, aveAccZ = 0.0, aveAbsOmg = 0.0;
float cutoff = 0.1; //~=2 * pi * f (Hz)
const float clk = 0.01; // in sec,
const uint32_t interval = (uint32_t) (clk * 1000); // in msec
float Kang, Komg, KIang, Kyaw, Kdst, Kspd;
int16_t maxPwr;
float yawAngle = 0.0;
float moveDestination, moveTarget;
float moveRate = 0.0;
const float moveStep = 0.2 * clk;
int16_t fbBalance = 0;
int16_t motorDeadband = 0;
float mechFactR, mechFactL;
int8_t motorRDir = 0, motorLDir = 0;
bool spinContinuous = false;
float spinDest, spinTarget, spinFact = 1.0;
float spinStep = 0.0; //deg per 10msec
int16_t ipowerL = 0, ipowerR = 0;
int16_t motorLdir = 0, motorRdir = 0; //0:stop 1:+ -1:-
float vBatt, voltAve = 3.7;
int16_t punchPwr, punchPwr2, punchDur, punchCountL = 0, punchCountR = 0;
byte demoMode = 0;
// UUID HID
static BLEUUID serviceUUID("1812");
// UUID Report Charcteristic
static BLEUUID charUUID("2a4d");
static boolean doConnect = false;
static boolean connected = false;
static boolean doScan = false;
static BLEAdvertisedDevice *myDevice;
std::vector<BLEAdvertisedDevice*> myDevices;
static void notifyCallback(BLERemoteCharacteristic *pBLERemoteCharacteristic, uint8_t *pData, size_t length, bool isNotify) {
// ボタンを押すなどしてNotifyが実行されると呼び出される
const int INDEX_LEVER_UPDOWN = 2;
const int INDEX_LEVER_LEFTRIGHT = 1;
const uint8_t LEVER_UP = 0xFC;
const uint8_t LEVER_DOWN = 0x04;
const uint8_t LEVER_RIGHT = 0x04;
const uint8_t LEVER_LEFT = 0xFC;
if (pData[INDEX_LEVER_UPDOWN] == LEVER_UP) {
printf("UP\n");
M5.Lcd.drawCentreString(" UP ", 80, 30, 4);
moveRate = -2.0;
spinContinuous = true;
spinStep = 0.0 * clk;
}
else if (pData[INDEX_LEVER_UPDOWN] == LEVER_DOWN) {
printf("DOWN\n");
M5.Lcd.drawCentreString(" DOWN ", 80, 30, 4);
moveRate = 2.0;
spinContinuous = true;
spinStep = 0.0 * clk;
}
if (pData[INDEX_LEVER_LEFTRIGHT] == LEVER_RIGHT) {
printf("RIGHT\n");
M5.Lcd.drawCentreString("RIGHT", 80, 30, 4);
moveRate = -1.0;
spinContinuous = true;
spinStep = -40.0 * clk;
}
else if (pData[INDEX_LEVER_LEFTRIGHT] == LEVER_LEFT) {
printf("LEFT\n");
M5.Lcd.drawCentreString(" LEFT ", 80, 30, 4);
moveRate = -1.0;
spinContinuous = true;
spinStep = 40.0 * clk;
}
if (pData[1]==0 && pData[2]==0) {
printf("STOP\n");
M5.Lcd.drawCentreString(" STOP ", 80, 30, 4);
moveRate = 0.0;
spinContinuous = true;
spinStep = 0.0 * clk;
}
}
class MyClientCallback: public BLEClientCallbacks {
void onConnect(BLEClient *pclient) {
}
void onDisconnect(BLEClient *pclient) {
connected = false;
Serial.println("onDisconnect");
}
};
bool connectToServer() {
Serial.printf("myDevices=%d\n", myDevices.size());
for (int i = 0; i < myDevices.size(); i++) {
Serial.print("Forming a connection to ");
Serial.println(myDevices.at(i)->getAddress().toString().c_str());
BLEClient *pClient = BLEDevice::createClient();
Serial.println(" - Created client");
pClient->setClientCallbacks(new MyClientCallback());
// Connect to the remove BLE Server.
pClient->connect(myDevices.at(i)); // if you pass BLEAdvertisedDevice instead of address, it will be recognized type of peer device address (public or private)
Serial.println(" - Connected to server");
// Obtain a reference to the service we are after in the remote BLE server.
BLERemoteService *pRemoteService = pClient->getService(serviceUUID);
if (pRemoteService == nullptr) {
Serial.print("Failed to find our service UUID: ");
Serial.println(serviceUUID.toString().c_str());
pClient->disconnect();
return false;
}
Serial.println(" - Found our service");
// 複数のCharacteristicを持つHIDの事は考慮されていないので
// 複数のCharacteristicに対応した処理をする
std::map<uint16_t, BLERemoteCharacteristic*> *pCharacteristicMap;
pCharacteristicMap = pRemoteService->getCharacteristicsByHandle();
// 引数なしのgetCharacteristics()は複数のCharacteristicを返してこないのでこちらを利用する
if (pCharacteristicMap == nullptr) {
Serial.println("pCharacteristicMap=null");
return false;
}
for (auto itr = pCharacteristicMap->begin(); itr != pCharacteristicMap->end(); ++itr) {
Serial.print("UUID: ");
Serial.println(itr->second->getUUID().toString().c_str());
if (itr->second->getUUID().equals(charUUID)) {
Serial.print("CharUUID matched: ");
Serial.println(itr->second->getUUID().toString().c_str());
if (itr->second->canNotify()) {
// ReportCharacteristicsはNotifyCallbackでデータを通信するため
// Notify属性を持っているCharacteristicをすべて登録する
Serial.print("Notify registerd: ");
Serial.println(itr->second->getUUID().toString().c_str());
itr->second->registerForNotify(notifyCallback);
}
}
}
}
connected = true;
return true;
}
/**
Scan for BLE servers and find the first one that advertises the service we are looking for.
*/
class MyAdvertisedDeviceCallbacks: public BLEAdvertisedDeviceCallbacks {
/**
Called for each advertising BLE server.
*/
void onResult(BLEAdvertisedDevice advertisedDevice) {
Serial.print("BLE Advertised Device found: ");
Serial.println(advertisedDevice.toString().c_str());
// We have found a device, let us now see if it contains the service we are looking for.
if (advertisedDevice.haveServiceUUID() && advertisedDevice.isAdvertisingService(serviceUUID)) {
// BLEDevice::getScan()->stop();
myDevice = new BLEAdvertisedDevice(advertisedDevice);
myDevices.push_back(myDevice);
doConnect = true;
doScan = true;
} // Found our server
} // onResult
};
void task0(void* pvParameters) {
while (true) {
checkButtonP();
#ifdef DEBUG
if (debugLoop1()) return;
#endif
getGyro();
if (!standing) {
dispBatVolt();
aveAbsOmg = aveAbsOmg * 0.9 + abs(varOmg) * 0.1;
aveAccZ = aveAccZ * 0.9 + accZdata * 0.1;
M5.Lcd.setCursor(10, 130);
M5.Lcd.printf("%5.2f ", -aveAccZ);
if (abs(aveAccZ) > 0.9 && aveAbsOmg < 1.5) {
calib2();
if (demoMode == 1) startDemo();
standing = true;
}
}
else {
if (abs(varAng) > 30.0 || counterOverPwr > maxOvp) {
resetMotor();
resetVar();
standing = false;
setMode(false);
}
else {
drive();
}
}
counter += 1;
if (counter >= 100) {
counter = 0;
dispBatVolt();
if (serialMonitor) sendStatus();
}
do time1 = millis();
while (time1 - time0 < interval);
time0 = time1;
}
delay(1);
}
void setup() {
pinMode(LED, OUTPUT);
digitalWrite(LED, HIGH);
Serial.begin(115200);
M5.begin();
Wire.begin(0, 26); //SDA,SCL
imuInit();
M5.Axp.ScreenBreath(11);
M5.Lcd.setRotation(2);
M5.Lcd.setTextFont(4);
M5.Lcd.fillScreen(BLACK);
M5.Lcd.setTextSize(1);
resetMotor();
resetPara();
resetVar();
calib1();
#ifdef DEBUG
debugSetup();
#else
setMode(false);
#endif
BLEDevice::init("");
// Retrieve a Scanner and set the callback we want to use to be informed when we
// have detected a new device. Specify that we want active scanning and start the
// scan to run for 5 seconds.
BLEScan *pBLEScan = BLEDevice::getScan();
pBLEScan->setAdvertisedDeviceCallbacks(new MyAdvertisedDeviceCallbacks());
pBLEScan->setInterval(1349);
pBLEScan->setWindow(449);
pBLEScan->setActiveScan(true);
pBLEScan->start(5, false);
xTaskCreatePinnedToCore(task0, "bleTask", 8192, NULL, 10, NULL, 1);
}
void loop() {
// If the flag "doConnect" is true then we have scanned for and found the desired
// BLE Server with which we wish to connect. Now we connect to it. Once we are
// connected we set the connected flag to be true.
if (doConnect == true) {
if (connectToServer()) {
Serial.println("We are now connected to the BLE Server.");
}
else {
Serial.println("We have failed to connect to the server; there is nothin more we will do.");
}
doConnect = false;
}
// If we are connected to a peer BLE Server, update the characteristic each time we are reached
// with the current time since boot.
if (connected) {
// String newValue = "Time since boot: " + String(millis()/1000);
// Serial.println("Setting new characteristic value to \"" + newValue + "\"");
// // Set the characteristic's value to be the array of bytes that is actually a string.
// pRemoteCharacteristic->writeValue(newValue.c_str(), newValue.length());
}
else if (doScan) {
BLEDevice::getScan()->start(0); // this is just eample to start scan after disconnect, most likely there is better way to do it in arduino
}
delay(1); // Delay a second between loops.
}
void calib1() {
calDelay(30);
digitalWrite(LED, LOW);
calDelay(80);
M5.Lcd.fillScreen(BLACK);
M5.Lcd.setCursor(0, LCDV_MID);
M5.Lcd.print(" Cal-1 ");
gyroYoffset = 0.0;
for (int i = 0; i < N_CAL1; i++) {
readGyro();
gyroYoffset += gyroYdata;
delay(9);
}
gyroYoffset /= (float)N_CAL1;
M5.Lcd.fillScreen(BLACK);
digitalWrite(LED, HIGH);
}
void calib2() {
resetVar();
resetMotor();
digitalWrite(LED, LOW);
calDelay(80);
M5.Lcd.setCursor(0, LCDV_MID);
M5.Lcd.println(" Cal-2 ");
accXoffset = 0.0;
gyroZoffset = 0.0;
for (int i = 0; i < N_CAL2; i++) {
readGyro();
accXoffset += accXdata;
gyroZoffset += gyroZdata;
delay(9);
}
accXoffset /= (float)N_CAL2;
gyroZoffset /= (float)N_CAL2;
M5.Lcd.fillScreen(BLACK);
digitalWrite(LED, HIGH);
}
void checkButtonP() {
byte pbtn = M5.Axp.GetBtnPress();
if (pbtn == 2) calib1(); //short push
else if (pbtn == 1) setMode(true); //long push
}
void calDelay(int n) {
for (int i = 0; i < n; i++) {
getGyro();
delay(9);
}
}
void setMode(bool inc) {
if (inc) demoMode = ++demoMode % 2;
M5.Lcd.fillScreen(BLACK);
M5.Lcd.setCursor(5, 5);
if (demoMode == 0) M5.Lcd.print("Stand ");
else if (demoMode == 1) M5.Lcd.print("Demo ");
}
void startDemo() {
moveRate = 1.0;
spinContinuous = true;
spinStep = -40.0 * clk;
}
void resetPara() {
Kang = 37.0;
Komg = 0.84;
KIang = 800.0;
Kyaw = 4.0;
Kdst = 85.0;
Kspd = 2.7;
mechFactL = 0.45;
mechFactR = 0.45;
punchPwr = 20;
punchDur = 1;
fbBalance = -3;
motorDeadband = 10;
maxPwr = 120;
punchPwr2 = max(punchPwr, motorDeadband);
}
void getGyro() {
readGyro();
varOmg = (gyroYdata - gyroYoffset); //unit:deg/sec
yawAngle += (gyroZdata - gyroZoffset) * clk; //unit:g
varAng += (varOmg + ((accXdata - accXoffset) * 57.3 - varAng) * cutoff ) * clk; //complementary filter
}
void readGyro() {
float gX, gY, gZ, aX, aY, aZ;
M5.Imu.getGyroData(&gX, &gY, &gZ);
M5.Imu.getAccelData(&aX, &aY, &aZ);
gyroYdata = gX;
gyroZdata = -gY;
gyroXdata = -gZ;
accXdata = aZ;
accZdata = aY;
}
void drive() {
#ifdef DEBUG
debugDrive();
#endif
if (abs(moveRate) > 0.1) spinFact = constrain(-(powerR + powerL) / 10.0, -1.0, 1.0); //moving
else spinFact = 1.0; //standing
if (spinContinuous) spinTarget += spinStep * spinFact;
else {
if (spinTarget < spinDest) spinTarget += spinStep;
if (spinTarget > spinDest) spinTarget -= spinStep;
}
moveTarget += moveStep * (moveRate + (float)fbBalance / 100.0);
varSpd += power * clk;
varDst += Kdst * (varSpd * clk - moveTarget);
varIang += KIang * varAng * clk;
power = varIang + varDst + (Kspd * varSpd) + (Kang * varAng) + (Komg * varOmg);
if (abs(power) > 1000.0) counterOverPwr += 1;
else counterOverPwr = 0;
if (counterOverPwr > maxOvp) return;
power = constrain(power, -maxPwr, maxPwr);
yawPower = (yawAngle - spinTarget) * Kyaw;
powerR = power - yawPower;
powerL = power + yawPower;
ipowerL = (int16_t) constrain(powerL * mechFactL, -maxPwr, maxPwr);
int16_t mdbn = -motorDeadband;
int16_t pp2n = -punchPwr2;
if (ipowerL > 0) {
if (motorLdir == 1) punchCountL = constrain(++punchCountL, 0, 100);
else punchCountL = 0;
motorLdir = 1;
if (punchCountL < punchDur) drvMotorL(max(ipowerL, punchPwr2));
else drvMotorL(max(ipowerL, motorDeadband));
}
else if (ipowerL < 0) {
if (motorLdir == -1) punchCountL = constrain(++punchCountL, 0, 100);
else punchCountL = 0;
motorLdir = -1;
if (punchCountL < punchDur) drvMotorL(min(ipowerL, pp2n));
else drvMotorL(min(ipowerL, mdbn));
}
else {
drvMotorL(0);
motorLdir = 0;
}
ipowerR = (int16_t) constrain(powerR * mechFactR, -maxPwr, maxPwr);
if (ipowerR > 0) {
if (motorRdir == 1) punchCountR = constrain(++punchCountR, 0, 100);
else punchCountR = 0;
motorRdir = 1;
if (punchCountR < punchDur) drvMotorR(max(ipowerR, punchPwr2));
else drvMotorR(max(ipowerR, motorDeadband));
}
else if (ipowerR < 0) {
if (motorRdir == -1) punchCountR = constrain(++punchCountR, 0, 100);
else punchCountR = 0;
motorRdir = -1;
if (punchCountR < punchDur) drvMotorR(min(ipowerR, pp2n));
else drvMotorR(min(ipowerR, mdbn));
}
else {
drvMotorR(0);
motorRdir = 0;
}
}
void drvMotorL(int16_t pwm) {
drvMotor(0, (int8_t)constrain(pwm, -127, 127));
}
void drvMotorR(int16_t pwm) {
drvMotor(1, (int8_t)constrain(-pwm, -127, 127));
}
void drvMotor(byte ch, int8_t sp) {
Wire.beginTransmission(0x38);
Wire.write(ch);
Wire.write(sp);
Wire.endTransmission();
}
void resetMotor() {
drvMotorR(0);
drvMotorL(0);
counterOverPwr = 0;
}
void resetVar() {
power = 0.0;
moveTarget = 0.0;
moveRate = 0.0;
spinContinuous = false;
spinDest = 0.0;
spinTarget = 0.0;
spinStep = 0.0;
yawAngle = 0.0;
varAng = 0.0;
varOmg = 0.0;
varDst = 0.0;
varSpd = 0.0;
varIang = 0.0;
}
void sendStatus () {
Serial.print(millis() - time0);
Serial.print(" stand="); Serial.print(standing);
Serial.print(" accX="); Serial.print(accXdata);
Serial.print(" power="); Serial.print(power);
Serial.print(" ang="); Serial.print(varAng);
Serial.print(", ");
Serial.print(millis() - time0);
Serial.println();
}
void imuInit() {
M5.Imu.Init();
if (M5.Imu.imuType = M5.Imu.IMU_MPU6886) {
M5.Mpu6886.SetGyroFsr(M5.Mpu6886.GFS_250DPS); //250DPS 500DPS 1000DPS 2000DPS
M5.Mpu6886.SetAccelFsr(M5.Mpu6886.AFS_4G); //2G 4G 8G 16G
if (serialMonitor) Serial.println("MPU6886 found");
}
else if (serialMonitor) Serial.println("MPU6886 not found");
}
void dispBatVolt() {
M5.Lcd.setCursor(5, LCDV_MID);
vBatt = M5.Axp.GetBatVoltage();
M5.Lcd.printf("%4.2fv ", vBatt);
}