机器人微控制器编程（CoCube）-强化实践

之前的案例，可以进一步扩展：

机器人微控制器编程（CoCube）-突破边界

从AD到电压；电压和电量，什么关系：

锂电池电压和电量之间，有一定的对应关系，通过对开路电压的测量，可以大致得出电池的剩余电量。不过用电压测量电量的方式有一定的不稳定性，例如放电电流、环境温度、循环、放电平台、电极材料等，都会给最后结果的准确与否带来影响。
电压和电量的对应关系是：100%----4.20V、90%-----4.06V、80%-----3.98V、70%-----3.92V、60%-----3.87V、50%-----3.82V、40%-----3.79V、30%-----3.77V、20%-----3.74V、10%-----3.68V、5%------3.45V、0%------3.00V。锂电池能够实现用电压测量剩余电量，主要是因为这种电池有一个很独特的性质：在电池放电时，电池电压会随着电量的流失而逐渐降低，从而形成了一种正相关的关系，并且有一定的斜率。因此我们能够依据剩余电量估算出大概的电压，反之亦然。

进一步：

电量和机器人任务状态的关系：

充电：检测是否满电

工作：检测电量是否在范围内，执行任务

低电：机器人进入低功耗和准备充电模式

哪些由机器人做，哪些由服务器做？

卡尔曼滤波：

MPU6050数据进一步扩展

机器人微控制器编程（CoCube）-深度融合

#include <MPU6050_tockn.h>
#include <Wire.h>
#include <Kalman.h> // Source: https://github.com/TKJElectronics/KalmanFilter#define RESTRICT_PITCH // Comment out to restrict roll to ±90deg instead - please read: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdfMPU6050 mpu6050(Wire);Kalman kalmanX; // Create the Kalman instances
Kalman kalmanY;uint32_t timer;/* IMU Data */
double accX, accY, accZ;
double gyroX, gyroY, gyroZ;
int16_t tempRaw;double gyroXangle, gyroYangle; // Angle calculate using the gyro only
double compAngleX, compAngleY; // Calculated angle using a complementary filter
double kalAngleX, kalAngleY; // Calculated angle using a Kalman filter// TODO: Make calibration routinevoid setup() {Serial.begin(115200);Wire.begin();mpu6050.begin();mpu6050.calcGyroOffsets(true);delay(1000); // Wait for sensor to stabilize/* Set kalman and gyro starting angle */mpu6050.update();accX = mpu6050.getAccX();accY = mpu6050.getAccY();accZ = mpu6050.getAccZ();// Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26// atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2// It is then converted from radians to degrees
#ifdef RESTRICT_PITCH // Eq. 25 and 26double roll  = atan2(accY, accZ) * RAD_TO_DEG;double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
#else // Eq. 28 and 29double roll  = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG;double pitch = atan2(-accX, accZ) * RAD_TO_DEG;
#endifkalmanX.setAngle(roll); // Set starting anglekalmanY.setAngle(pitch);gyroXangle = roll;gyroYangle = pitch;compAngleX = roll;compAngleY = pitch;timer = micros();
}void loop() {/* Update all the values */mpu6050.update();accX = mpu6050.getAccX();accY = mpu6050.getAccY();accZ = mpu6050.getAccZ();tempRaw = mpu6050.getTemp();gyroX = mpu6050.getGyroX();gyroY = mpu6050.getGyroY();gyroZ = mpu6050.getGyroZ();double dt = (double)(micros() - timer) / 1000000; // Calculate delta timetimer = micros();// Source: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf eq. 25 and eq. 26// atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2// It is then converted from radians to degrees
#ifdef RESTRICT_PITCH // Eq. 25 and 26double roll  = atan2(accY, accZ) * RAD_TO_DEG;double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
#else // Eq. 28 and 29double roll  = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG;double pitch = atan2(-accX, accZ) * RAD_TO_DEG;
#endifdouble gyroXrate = gyroX / 131.0; // Convert to deg/sdouble gyroYrate = gyroY / 131.0; // Convert to deg/s#ifdef RESTRICT_PITCH// This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degreesif ((roll < -90 && kalAngleX > 90) || (roll > 90 && kalAngleX < -90)) {kalmanX.setAngle(roll);compAngleX = roll;kalAngleX = roll;gyroXangle = roll;} elsekalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filterif (abs(kalAngleX) > 90)gyroYrate = -gyroYrate; // Invert rate, so it fits the restriced accelerometer readingkalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt);
#else// This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degreesif ((pitch < -90 && kalAngleY > 90) || (pitch > 90 && kalAngleY < -90)) {kalmanY.setAngle(pitch);compAngleY = pitch;kalAngleY = pitch;gyroYangle = pitch;} elsekalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt); // Calculate the angle using a Kalman filterif (abs(kalAngleY) > 90)gyroXrate = -gyroXrate; // Invert rate, so it fits the restriced accelerometer readingkalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter
#endifgyroXangle += gyroXrate * dt; // Calculate gyro angle without any filtergyroYangle += gyroYrate * dt;//gyroXangle += kalmanX.getRate() * dt; // Calculate gyro angle using the unbiased rate//gyroYangle += kalmanY.getRate() * dt;compAngleX = 0.93 * (compAngleX + gyroXrate * dt) + 0.07 * roll; // Calculate the angle using a Complimentary filtercompAngleY = 0.93 * (compAngleY + gyroYrate * dt) + 0.07 * pitch;// Reset the gyro angle when it has drifted too muchif (gyroXangle < -180 || gyroXangle > 180)gyroXangle = kalAngleX;if (gyroYangle < -180 || gyroYangle > 180)gyroYangle = kalAngleY;/* Print Data */
#if 0 // Set to 1 to activateSerial.print(accX); Serial.print("\t");Serial.print(accY); Serial.print("\t");Serial.print(accZ); Serial.print("\t");Serial.print(gyroX); Serial.print("\t");Serial.print(gyroY); Serial.print("\t");Serial.print(gyroZ); Serial.print("\t");Serial.print("\t");
#endifSerial.print(roll); Serial.print("\t");Serial.print(gyroXangle); Serial.print("\t");Serial.print(compAngleX); Serial.print("\t");Serial.print(kalAngleX); Serial.print("\t");Serial.print("\t");Serial.print(pitch); Serial.print("\t");Serial.print(gyroYangle); Serial.print("\t");Serial.print(compAngleY); Serial.print("\t");Serial.print(kalAngleY); Serial.print("\t");#if 0 // Set to 1 to print the temperatureSerial.print("\t");double temperature = (double)tempRaw / 340.0 + 36.53;Serial.print(temperature); Serial.print("\t");
#endifSerial.print("\r\n");
}

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