Examples

Timer fixed, BalanceBot, rotation

Author: kubascikmichal

RoboHeartTimer.cpp

@@ -13,15 +13,15 @@
 
 PeriodicTimer::PeriodicTimer(void (*callback)(void),
                              uint64_t timerPeriodMicroSec)
-    : timer(timerBegin(3)) {
+    : timer(timerBegin(1000000)) {
     timerAttachInterrupt(timer, callback);
     setTimePeriod(timerPeriodMicroSec);
     stop();
 }
 
 PeriodicTimer::PeriodicTimer(void (*callback)(void),
                              uint64_t timerPeriodMicroSec, Stream& debug)
-    : timer(timerBegin(3)), _debug(&debug) {
+    : timer(timerBegin(1000000)), _debug(&debug) {
     timerAttachInterrupt(timer, callback);
     setTimePeriod(timerPeriodMicroSec);
     stop();
@@ -30,7 +30,7 @@ PeriodicTimer::PeriodicTimer(void (*callback)(void),
 void PeriodicTimer::setTimePeriod(uint64_t timerPeriodMicroSec) {
 
     timerStop(timer);
-    timerWrite(timer, timerPeriodMicroSec);
+    timerAlarm(timer, timerPeriodMicroSec, true, 0);
     timerRestart(timer);
     timerStart(timer);
 }

examples/RoboHeartBalanceBot/RoboHeartBalanceBot.ino

@@ -15,9 +15,6 @@
  * Check out https://roboheart.de/en_gb/ for more information about RoboHeart.
  */
 
-
-//TODO: Refactor, storeprohibited error fix.
-
 #include <RoboHeart.h>
 #include <RoboHeartTimer.h>
 
@@ -74,7 +71,7 @@ void tick() {
 // and later used to indicate stable vertical position
 // of the Balancing Bot.
 void processPinInterrupt() {
-    offsetAngleDeg = heart.imu.readFloatGyroX();
+    offsetAngleDeg = heart.getRotationX();
     targetAngleDeg = offsetAngleDeg;
 }
 
@@ -113,7 +110,7 @@ void loop() {
     if (pidControlTick >= PID_CONTROL_PRESCALER) {
         unsigned long curTimeIntervalMS = millis();
         pidControlTick = 0;
-        currentAngleDeg = processAngle(heart.imu.readFloatGyroX());
+        currentAngleDeg = processAngle(heart.getRotationX());
 
         float error = currentAngleDeg - targetAngleDeg;
         errorSum = constrain(errorSum + error, -Kp * 50, Kp * 50);

examples/RoboHeartBalanceBotContol/RoboHeartBalanceBotContol.ino

@@ -18,9 +18,6 @@
  * Check out https://roboheart.de/en_gb/ for more information about RoboHeart.
  */
 
- 
-//TODO: Refactor, storeprohibited error fix.
-
 #include <RoboHeart.h>
 #include <RoboHeartBLE.h>
 #include <RoboHeartTimer.h>
@@ -195,7 +192,7 @@ void tick() {
 // and later used to indicate stable vertical position
 // of the Balancing Bot.
 void processPinInterrupt() {
-    offsetAngleDeg = heart.imu.readFloatGyroX();
+    offsetAngleDeg = heart.getRotationX();
     targetAngleDeg = offsetAngleDeg;
 }
 
@@ -250,7 +247,7 @@ void loop() {
     if (pidControlTick >= PID_CONTROL_PRESCALER) {
         unsigned long curTimeIntervalMS = millis();
         pidControlTick = 0;
-        currentAngleDeg = processAngle(heart.imu.readFloatGyroX());
+        currentAngleDeg = processAngle(heart.heart.getRotationX());
 
         float error = currentAngleDeg - targetAngleDeg;
         errorSum = constrain(errorSum + error, -Kp * 50, Kp * 50);

examples/RoboHeartRotation/RoboHeartRotation.ino

@@ -52,13 +52,13 @@ void setup() {
 
   Serial.println("RoboHeart LSM6DS3 rotation demo");
 
-  calculateDiff();
+  calculateDrifts();
   int counter = 0;
   Serial.println("RoboHeart calibrating...");
   while (isCalibrated() == 0) {
       counter++;
       if(counter > 3){
-          calculateDiff();
+          calculateDrifts();
           counter = 0;
           Serial.println("Calibration failed, trying again...");
       }