#include <MsTimer2.

h> //Internal timer2

#include <PinChangeInt.h> //This library file can make all pins on the REV4
board as external interrupts. Define three-axis acceleration, three-axis
gyroscope variables

#include <MPU6050.h> //MPU6050 Library

#include <Wire.h> //IIC communication library

MPU6050 mpu6050; // Instantiate an MPU6050 object; name mpu6050

int16_t ax, ay, az, gx, gy, gz; //Define three-axis acceleration, three-axis
gyroscope variables

//TB6612 pins definition

const int right_R1=8;

const int right_R2=12;

const int PWM_R=10;

const int left_L1=7;

const int left_L2=6;

const int PWM_L=9;

const int buz = 11;

const int btn = 13;

///////////////////////angle parameters//////////////////////////////

float angle_X; // calculate the inclined angle variable of X-axis by

accelerometer

float angle_Y; //calculate the inclined angle variable of Y-axis by

accelerometer

float angle0 = 0; //mechanical balance angle (ideally 0 degrees)

float Gyro_x,Gyro_y,Gyro_z; //Angular angular velocity by gyroscope
calculation

///////////////////////angle parameter//////////////////////////////

///////////////////////Kalman_Filter////////////////////////////

float Q_angle = 0.001; //Covariance of gyroscope noise

float Q_gyro = 0.003; // Covariance of gyroscope drift noise

float R_angle = 0.5; //Covariance of accelerometer

char C_0 = 1;

float dt = 0.005; //The value of dt is the filter sampling time

float K1 = 0.05; // a function containing the Kalman gain is used to calculate

the deviation of the optimal estimate

float K_0,K_1,t_0,t_1;

float angle_err;

float q_bias; //gyroscope drift

float accelz = 0;

float angle;

float angleY_one;

float angle_speed;

float Pdot[4] = { 0, 0, 0, 0};

float P[2][2] = {{ 1, 0 }, { 0, 1 }};

float PCt_0, PCt_1, E;

//////////////////////Kalman_Filter/////////////////////////

//////////////////////PID parameter///////////////////////////////
double kp = 34, ki = 0, kd = 0.62; //angle loop parameter

double kp_speed = 3.56, ki_speed = 0.072, kd_speed = 0; // speed loop

parameter

double kp_turn = 24, ki_turn = 0, kd_turn = 0.08; // steering loop

parameter

double setp0 = 0; //angle balance point

int PD_pwm; //angle output

float pwm1=0,pwm2=0;

//////////////////interrupt speed count/////////////////////////////

#define PinA_left 5 //external interrupt

#define PinA_right 4 //external interrupt

volatile long count_right = 0;//Used to calculate the pulse value calculated by

the Hall encoder (the volatile long type is to ensure the value is valid)

volatile long count_left = 0;

int speedcc = 0;

//////////////////////pulse count/////////////////////////

int lz = 0;

int rz = 0;

int rpluse = 0;

int lpluse = 0;

int pulseright,pulseleft;

////////////////////////////////PI variable parameter//////////////////////////

float speeds_filterold=0;

float positions=0;

int flag1;

double PI_pwm;

int cc;
int speedout;

float speeds_filter;

//////////////////////////////turning PD///////////////////

int turnmax,turnmin,turnout;

float Turn_pwm = 0;

int zz=0;

int turncc=0;

//Bluetooth//

int front = 0;//forward variable

int back = 0;//backward

int left = 0;//turn left

int right = 0;//turn right

char val;

int i,button;

void setup()

//set the motor control pins to OUTPUT

pinMode(right_R1,OUTPUT);

pinMode(right_R2,OUTPUT);

pinMode(left_L1,OUTPUT);

pinMode(left_L2,OUTPUT);

pinMode(PWM_R,OUTPUT);

pinMode(PWM_L,OUTPUT);
 //assign the initial state value

digitalWrite(right_R1,1);

digitalWrite(right_R2,0);

digitalWrite(left_L1,0);

digitalWrite(left_L2,1);

analogWrite(PWM_R,0);

analogWrite(PWM_L,0);

pinMode(PinA_left, INPUT); //speed encoder input

pinMode(PinA_right, INPUT);

pinMode(btn,INPUT);

pinMode(buz,OUTPUT);

// join I2C bus

Wire.begin(); //join I2C bus sequence

Serial.begin(9600); //open the serial monitor and set the baud

rate to 9600

delay(1500);

mpu6050.initialize(); //initialize MPU6050

delay(2);

//5ms; use timer2 to set the timer interrupt (note: using timer2 may affects
the PWM output of pin3 pin11)

MsTimer2::set(5, DSzhongduan); //5ms; execute the function

DSzhongduan once

MsTimer2::start(); //start interrupt

}

//buzzer

void buzzer()

for(int i=0;i<50;i++)

digitalWrite(buz,HIGH);

delay(1);

digitalWrite(buz,LOW);

delay(1);

delay(50);

for(int i=0;i<50;i++)

digitalWrite(buz,HIGH);

delay(1);

digitalWrite(buz,LOW);

delay(1);

void loop()

//Serial.println(angle0);

//Serial.print("angle= ");

//Serial.println(angle);
//delay(1);

//Serial.println(PD_pwm);

//Serial.println(pwm1);

//Serial.println(pwm2);

//Serial.print("pulseright = ");

//Serial.println(pulseright);

//Serial.print("pulseleft = ");

//Serial.println(pulseleft);

//Serial.println(PI_pwm);

//Serial.println(speeds_filter);

//Serial.println (positions);

//Serial.println(Turn_pwm);

//Serial.println(Gyro_z);

//Serial.println(Turn_pwm);

while(i<1)

button = digitalRead(btn);

if(button == 0)

angle0=-angle;

//Serial.println(angle0);

buzzer();

i++;

if(Serial.available())
 {

val = Serial.read(); //assign the value read from the serial port to val

//Serial.println(val);

switch(val) //switch statement

case 'F': front=250; break; //if val equals F，front=250，car will move
forward

case 'B': back=-250; break; //go back

case 'L': left=1; break; //turn left

case 'R': right=1; break; //turn right

case 'S': front=0,back=0,left=0,right=0;break; //stop

case 'D': Serial.print(angle);break;

//external interrupt; used to calculate the wheel speed

attachPinChangeInterrupt(PinA_left, Code_left, CHANGE); //PinA_left

Level change triggers the external interrupt; execute the subfunction
Code_left

attachPinChangeInterrupt(PinA_right, Code_right, CHANGE); //PinA_right

Level change triggers the external interrupt; execute the subfunction
Code_right

/////////////////////Hall count/////////////////////////

//left speed encoder count

void Code_left()

{
 count_left ++;

//right speed encoder count

void Code_right()

count_right ++;

////////////////////pulse count///////////////////////

void countpluse()

lz = count_left; //assign the value counted by encoder to lz

rz = count_right;

count_left = 0; //Clear count quantity

count_right = 0;

lpluse = lz;

rpluse = rz;

if ((pwm1 < 0) && (pwm2 < 0)) //judge the car’s moving
direction; if backward (PWM namely motor voltage is negative), pulse is a
negative number.

rpluse = -rpluse;

lpluse = -lpluse;

else if ((pwm1 > 0) && (pwm2 > 0)) //if backward (PWM namely
motor voltage is positive), pulse is a positive number.
 {

rpluse = rpluse;

lpluse = lpluse;

else if ((pwm1 < 0) && (pwm2 > 0)) //judge the car’s moving
direction; if turn left, right pulse is a positive number; left pulse is a negative
number.

rpluse = rpluse;

lpluse = -lpluse;

else if ((pwm1 > 0) && (pwm2 < 0)) //judge the car’s moving
direction; if turn right, right pulse is a negative number; left pulse is a
positive number.

rpluse = -rpluse;

lpluse = lpluse;

// enter interrupt per 5ms，pulse number plus

pulseright += rpluse;

pulseleft += lpluse;

/////////////////////////////////interrupt ////////////////////////////

void DSzhongduan()

sei(); //allow overall interrupt

 countpluse(); //pulse plus subfunction

mpu6050.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //IIC to get

MPU6050 six-axis data ax ay az gx gy gz

angle_calculate(ax, ay, az, gx, gy, gz, dt, Q_angle, Q_gyro, R_angle, C_0,
K1); //get angle and Kalmam filtering

PD(); //angle loop PD control

anglePWM();

cc++;

if(cc>=8) //5*8=40，enter PI algorithm of speed per 40ms

speedpiout();

cc=0; //Clear

turncc++;

if(turncc>4) //20ms; enter PD algorithm of steering

turnspin();

turncc=0; //Clear

///////////////////////////////////////////////////////////

/////////////////////////////tilt calculation///////////////////////

void angle_calculate(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t

gy,int16_t gz,float dt,float Q_angle,float Q_gyro,float R_angle,float C_0,float
K1)

{
 float Angle = -atan2(ay , az) * (180/ PI); //Radial rotation angle
calculation formula ; negative sign is direction processing

Gyro_x = -gx / 131; //The X-axis angular velocity calculated by the

gyroscope; the negative sign is the direction processing

Kalman_Filter(Angle, Gyro_x); //Kalman Filter

//rotating angle Z-axis parameter

Gyro_z = -gz / 131; //angle speed of Z-axis

//accelz = az / 1604;

float angleAx = -atan2(ax, az) * (180 / PI); //calculate the inclined angle with
x-axis

Gyro_y = -gy / 131.00; //angle speed of Y-axis

Yiorderfilter(angleAx, Gyro_y); //first-order filtering

////////////////////////////////////////////////////////////////

///////////////////////////////KalmanFilter/////////////////////

void Kalman_Filter(double angle_m, double gyro_m)

angle += (gyro_m - q_bias) * dt; //prior estimate

angle_err = angle_m - angle;

Pdot[0] = Q_angle - P[0][1] - P[1][0]; //The differential of the covariance of

the prior estimate error

Pdot[1] = - P[1][1];

Pdot[2] = - P[1][1];

Pdot[3] = Q_gyro;
 P[0][0] += Pdot[0] * dt; //The integral of the covariance differential of the
prior estimate error

P[0][1] += Pdot[1] * dt;

P[1][0] += Pdot[2] * dt;

P[1][1] += Pdot[3] * dt;

//Intermediate variables in matrix multiplication

PCt_0 = C_0 * P[0][0];

PCt_1 = C_0 * P[1][0];

//denominator

E = R_angle + C_0 * PCt_0;

//gain value

K_0 = PCt_0 / E;

K_1 = PCt_1 / E;

t_0 = PCt_0; //Intermediate variables in matrix multiplication

t_1 = C_0 * P[0][1];

P[0][0] -= K_0 * t_0; //Posterior estimation error covariance

P[0][1] -= K_0 * t_1;

P[1][0] -= K_1 * t_0;

P[1][1] -= K_1 * t_1;

q_bias += K_1 * angle_err; //Posterior estimate

angle_speed = gyro_m - q_bias; //The differential of the output value gives

the optimal angular velocity

angle += K_0 * angle_err; ////Posterior estimation; get the optimal angle

}

/////////////////////first-order filter/////////////////

void Yiorderfilter(float angle_m, float gyro_m)

angleY_one = K1 * angle_m + (1 - K1) * (angleY_one + gyro_m * dt);

//////////////////angle PD////////////////////

void PD()

PD_pwm = kp * (angle + angle0) + kd * angle_speed; //PD angle loop

control

//////////////////speed PI////////////////////

void speedpiout()

float speeds = (pulseleft + pulseright) * 1.0; //speed pulse value

pulseright = pulseleft = 0; //clear

speeds_filterold *= 0.7; //first-order complementary filtering

speeds_filter = speeds_filterold + speeds * 0.3;

speeds_filterold = speeds_filter;

positions += speeds_filter;

positions += front; //Forward control fusion

positions += back; //backward control fusion

positions = constrain(positions, -3550,3550); //Anti-integral saturation

 PI_pwm = ki_speed * (setp0 - positions) + kp_speed * (setp0 -
speeds_filter); //speed loop control PI

//////////////////speed PI////////////////////

///////////////////////////turning/////////////////////////////////

void turnspin()

int flag = 0; //

float turnspeed = 0;

float rotationratio = 0;

if (left == 1 || right == 1)

if (flag == 0) //judge the speed before rotate, to increase

the flexibility

turnspeed = ( pulseright + pulseleft); //current speed ;

express in pulse

flag=1;

if (turnspeed < 0) //speed absolute value

turnspeed = -turnspeed;

if(left==1||right==1) //if press left key or right key

turnmax=3; //max turning value

 turnmin=-3; //min turning value

rotationratio = 5 / turnspeed; //speed setting value

if (rotationratio < 0.5)

rotationratio = 0.5;

if (rotationratio > 5)

rotationratio = 5;

else

rotationratio = 0.5;

flag = 0;

turnspeed = 0;

if (left ==1)//plus according to direction parameter

turnout += rotationratio;

else if (right == 1 )//plus according to direction parameter

turnout -= rotationratio;

}
 else turnout = 0;

if (turnout > turnmax) turnout = turnmax;//max value of amplitude

if (turnout < turnmin) turnout = turnmin;//min value of amplitude

Turn_pwm = -turnout * kp_turn - Gyro_z * kd_turn;//turning PD algorithm

control

///////////////////////////turning/////////////////////////////////

////////////////////////////PWM end value/////////////////////////////

void anglePWM()

pwm2=-PD_pwm - PI_pwm + Turn_pwm; //assign the end value of

PWM to motor

pwm1=-PD_pwm - PI_pwm - Turn_pwm;

if(pwm1>255) //limit PWM value not greater than255

pwm1=255;

if(pwm1<-255)

pwm1=-255;

if(pwm2>255)

pwm2=255;
 }

if(pwm2<-255)

pwm2=-255;

if(angle>45 || angle<-45) //if tilt angle is greater than 45°，motor will

stop

pwm1=pwm2=0;

if(pwm2>=0) //determine the motor steering and speed by negative

and positive of PWM

digitalWrite(left_L1,LOW);

digitalWrite(left_L2,HIGH);

analogWrite(PWM_L,pwm2);

else

digitalWrite(left_L1,HIGH);

digitalWrite(left_L2,LOW);

analogWrite(PWM_L,-pwm2);

if(pwm1>=0)
{

digitalWrite(right_R1,LOW);

digitalWrite(right_R2,HIGH);

analogWrite(PWM_R,pwm1);

else

digitalWrite(right_R1,HIGH);

digitalWrite(right_R2,LOW);

analogWrite(PWM_R,-pwm1);