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Balancerobot Raspberry Pi 3

Made by electrouser314 / Robotics

About the project

Talking BalanceRobot Raspberry Pi 3 written in c++ for Linux Raspberry

Project info

Difficulty: Moderate

Platforms: Raspberry Pi

Estimated time: 4 weeks

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

	18650 battery	x 1
	114990584 ARM Raspberry Pi 3 Model B	x 1
	2 x 12V 37mm 350 Rpm 30:1 DC GearMotor with Half Encoder	x 1
	RPi Motor Driver Board	x 1
	MPU6050	x 1

Software apps and online services

https://github.com/takyonxxx/BalanceRobot-Raspberry-Pi

Story

BalanceRobot Raspberry Pi 3

Project on github:

https://github.com/takyonxxx/BalanceRobot-Raspberry-Pi

Components:

RPi Motor Driver Board for Raspberry (each channel supply 5a)
https://www.waveshare.com/wiki/RPi_Motor_Driver_Board

MPU6050 (6-axis motion-tracking device that combines a 3-axis gyroscope and a 3-axis accelerometer) With MPU6050 , you can get stable angle when the Kalman filter is used. Place the sensor in the lower section, middle part of robot. I put it in the middle of two dc motors. This prevents oscillations.

2 x 12V 37mm 350 Rpm 30:1 DC GearMotor with Half Encoder

Raspberry Pi 3

18650 battery holder,

The Balance Robot parts are:

For autostart the app on raspberry boot please read below instructions.

Remote module written in android studio java ,
for controlling robot via Rfcomm serial bluetooth connection.
Please first pair your android device with rapberry pi, and run remote android app on phone than keep it in listening mode.
After run raspberry pi code with sudo. The default start mode is off (m_IsRunning = false).
You can press start button from android app to power dc motors
or set m_IsRunning variable to thing you want true or false for start option.

in BalanceRobotPi/main.cpp, plaese change the mac address to your android phone mac address std::string RfCommAndroidMac = "XX:XX:XX:XX:XX:XX";// change it with your phone mac

Building code:

cd BalanceRobotPi 
qmake, make 
 
sudo apt-get install build-essential 
sudo apt-get install alsa 
sudo apt-get install qt4-default 
sudo apt-get install espeak 
sudo apt-get install libasound2-dev

Please install build-essential, alsa , qmake and espeak before compile.

Schematics, diagrams and documents

robot chasis

Code

the main.cpp full project is available on github: https://github.com/takyonxxx/BalanceRobot-Raspberry-Pi

#include <QCoreApplication>

#include "Pid.h"
#include <stdint.h>
#include <iostream>
#include <stdio.h> /* Standard input/output definitions */
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include <fcntl.h> /* File control definitions */
#include <errno.h> /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */

#include <softPwm.h>
#include "I2Cdev.h"
#include "MPU6050.h"
#include "Kalman.h"
#include <math.h>
#include <sys/time.h>
#include "ComPacket.h"
#include <sys/socket.h>
#include <bluetooth/bluetooth.h>
#include <bluetooth/sdp.h>
#include <bluetooth/hci.h>
#include <bluetooth/sdp_lib.h>
#include <bluetooth/rfcomm.h>
#include <signal.h>
#include <boost/property_tree/ini_parser.hpp>
#include <boost/property_tree/ptree.hpp>
#include <pthread.h>
#include <wiringPi.h>
#include <alsa/asoundlib.h>

//#include <wiringPiI2C.h>
//sudo apt-get install libbluetooth-dev

#define SLEEP_PERIOD 1000 //us;
#define SERIAL_TIME 100 //ms
#define SAMPLE_TIME 1 //ms
int pwnLimit = 100;

#define KF_VAR_ACCEL 0.0075 // Variance of pressure acceleration noise input.
#define KF_VAR_MEASUREMENT 0.05
#define RESTRICT_PITCH

//physcal pins
#define PWMR1  31
#define PWMR2  33
#define PWML1  38
#define PWML2  40
#define PWMR  32
#define PWML  37

//encoder define
#define SPD_INT_L 12   //interrupt R Phys:12
#define SPD_PUL_L 16   //Phys:16
#define SPD_INT_R 18   //interrupt L Phys:18
#define SPD_PUL_R 22   //Phys:22

MPU6050 accelgyro;
Kalman kalmanX;
Kalman kalmanY;
std::string RfCommAndroidMac = "5C:2E:59:D6:67:4B";// change it with your android phone mac address
std::string current_sound = "";

bool m_IsRunning = false;
bool m_IsMainThreadRunning = false;
bool m_IsSerialThreadRunning = false;
bool StopFlag = true;

char buf[500];
ComPacket SerialPacket;

int fd; //rfcomm0
int Speed_L,Speed_R;
int pwm,pwm_l,pwm_r;
int Speed_Need = 0;
int Turn_Need = 0;
int Speed_Diff = 0;
int Speed_Diff_ALL = 0;
int Position_AVG = 0;
int Position_Add = 0;

uint32_t timer;
int16_t ax, ay, az;
int16_t gx, gy, gz;

double RAD_TO_DEG = 57.2958;
double timediff = 0.0;
double Correction = 0.0;
double Setpoint = 0.0;
double aggKp = 40.0;
double aggKi = 5.0;
double aggKd = 0.4;
double aggVs = 15.0; //Velocity wheel
double aggKm = 1.0; //Velocity wheel
double angle_error = 0.0;
double Angle_MPU = 0.0;
double Gyro_MPU = 0.0;
double Temperature = 0.0;

double accX, accY, accZ;
double gyroX, gyroY, gyroZ;
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
double Input, Output;

//speed control values
long lastSpeedError = 0;
long speedAdjust = 0;
long dSpeedError;
long SKp ,SKi ,SKd;

double DataAvg[3];

//Specify the links and initial tuning parameters
PID balancePID(&Input, &Output, &Setpoint, aggKp, aggKi, aggKd, DIRECT);

void speakTurkishRobot(std::string sound);
void speakEnglishRobot(std::string sound);

template<typename T>
T StringToNumber(const std::string& numberAsString)
{
    T valor;

    std::stringstream stream(numberAsString);
    stream >> valor;
    if (stream.fail()) {
        std::runtime_error e(numberAsString);
        throw e;
    }
    return valor;
}

template<class T>
const T& constrain(const T& x, const T& a, const T& b) {
    if(x < a) {
        return a;
    }
    else if(b < x) {
        return b;
    }
    else
        return x;
}

unsigned int millis()
{
    struct timeval timer;
    gettimeofday(&timer, NULL);
    double time_in_mill = (timer.tv_sec) * 1000 + (timer.tv_usec) / 1000 ; // convert tv_sec & tv_usec to millisecond
    return (unsigned int)time_in_mill;
}

unsigned int micros()
{
    struct timeval timer;
    gettimeofday(&timer, NULL);
    unsigned int time_in_micros = 1000000 * timer.tv_sec + timer.tv_usec;
    return time_in_micros;
}

PI_THREAD (speakTurkish)
{
    speakTurkishRobot(current_sound);
    return 0;
}

PI_THREAD (speakEnglish)
{
    speakEnglishRobot(current_sound);
    return 0;
}

void ResetValues()
{
    Setpoint = 0.0;
    Speed_Diff = 0;
    Speed_Diff_ALL = 0;
    Input = 0.0;
    Angle_MPU = 0.0;
    Gyro_MPU = 0.0;
    Temperature = 0.0;
    Speed_Need = 0;
    Turn_Need = 0;
    Speed_L = 0;
    Speed_R = 0;
    Position_Add = 0;
    Position_AVG = 0;
    pwm = 0;
    pwm_l = 0;
    pwm_r = 0;
    //motor speed difference (Left-Right) correction
    lastSpeedError = 0;
    speedAdjust = 0;
    dSpeedError = 0;
    SKp = 1L;
    SKi = 0.5L;
    SKd = 0.3L;
}

bool connetRfComm()
{
    struct termios options;

    // linux
    fd = open("/dev/rfcomm0", O_RDWR | O_NOCTTY | O_NONBLOCK);

    /* get the current options */
    tcgetattr(fd, &options);

    /* Set Baud Rate */
    cfsetospeed (&options, (speed_t)B9600);
    cfsetispeed (&options, (speed_t)B9600);

    /* Setting other Port Stuff */
    options.c_cflag     &=  ~PARENB;            // Make 8n1
    options.c_cflag     &=  ~CSTOPB;
    options.c_cflag     &=  ~CSIZE;
    options.c_cflag     |=  CS8;

    options.c_cflag     &=  ~CRTSCTS;           // no flow control
    options.c_cc[VMIN]   =  1;                  // read doesn't block
    options.c_cc[VTIME]  =  1;                  // 0.1 seconds read timeout
    options.c_cflag     |=  CREAD | CLOCAL;     // turn on READ & ignore ctrl lines

    /* Make raw */
    cfmakeraw(&options);

    /* Flush Port, then applies attributes */
    tcflush( fd, TCIFLUSH );
    if ( tcsetattr ( fd, TCSANOW, &options ) != 0)
    {
        std::cout << "Error " << errno << " from tcsetattr" << std::endl;
        return false;
    }

    return true;
}

void disConnetRfComm() {

    // If the port is actually open, close it
    if (fd != -1) {
        close(fd);
        printf("RfComm: Device %d is now closed.\n", fd);
    }
}

uchar *trim(uchar *s)
{
    uchar *first;
    uchar *last;

    first = s;
    while(isspace(*first))
        ++first;

    last = first + strlen((const char*)first) - 1;
    while(last > first && isspace(*last))
        --last;

    memmove(s, first, last - first + 1);
    s[last - first + 1] = '\0';

    return s;
}

///SETTINGS.INI FUNCTIONS

void getStatusFromConfigurationFile() {
    boost::property_tree::ptree pt;
    boost::property_tree::ini_parser::read_ini("settings.ini", pt);

    aggKp       = StringToNumber<double>(pt.get<std::string>("Robot.aggKp"));
    aggKi       = StringToNumber<double>(pt.get<std::string>("Robot.aggKi"));
    aggKd       = StringToNumber<double>(pt.get<std::string>("Robot.aggKd"));
    aggVs       = StringToNumber<double>(pt.get<std::string>("Robot.aggVs"));
    aggKm       = StringToNumber<double>(pt.get<std::string>("Robot.aggKm"));
    Correction  = StringToNumber<double>(pt.get<std::string>("Robot.Correction"));
    RfCommAndroidMac = pt.get<std::string>("Robot.RfCommAndroidMac");

    printf("aggKp: %.2f aggKi: %.2f aggKd: %.2f\n",aggKp,aggKi,aggKd);

}

void updateConfigurationFileFromStatus() {
    boost::property_tree::ptree pt;
    boost::property_tree::ini_parser::read_ini("settings.ini", pt);

    printf("aggKp: %.2f aggKi: %.2f aggKd: %.2f\n",aggKp,aggKi,aggKd);

    pt.put("Robot.aggKp", aggKp);
    pt.put("Robot.aggKi", aggKi);
    pt.put("Robot.aggKd", aggKd);
    pt.put("Robot.aggVs", aggVs);
    pt.put("Robot.aggKm", aggKm);
    pt.put("Robot.Correction", Correction);
    pt.put("Robot.RfCommAndroidMac", RfCommAndroidMac);

    boost::property_tree::ini_parser::write_ini("settings.ini", pt);
}

void createConfigurationFile() {
    boost::property_tree::ptree pt;

    printf("aggKp: %.2f aggKi: %.2f aggKd: %.2f\n",aggKp,aggKi,aggKd);

    //create with default parameters
    pt.put("Robot.aggKp", aggKp);
    pt.put("Robot.aggKi", aggKi);
    pt.put("Robot.aggKd", aggKd);
    pt.put("Robot.aggVs", aggVs);
    pt.put("Robot.aggKm", aggKm);
    pt.put("Robot.Correction", Correction);
    pt.put("Robot.RfCommAndroidMac", RfCommAndroidMac);

    boost::property_tree::ini_parser::write_ini("settings.ini", pt);
}

void initConf()
{
    try
    {
        getStatusFromConfigurationFile();
    }
    catch (const std::exception& e)
    {
        printf("File settings.ini not found.\nCreating settings.ini file.\n");
        createConfigurationFile();
        getStatusFromConfigurationFile();
    }
}

void updateConf()
{
    try
    {
        updateConfigurationFileFromStatus();
    }
    catch (const std::exception& e)
    {
        printf("Exception handled: %s.", e.what());
    }
}

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

std::string exec(const char* cmd) {
    char buffer[128];
    std::string result = "";
    FILE* pipe = popen(cmd, "r");
    if (!pipe) throw std::runtime_error("popen() failed!");
    try {
        while (!feof(pipe)) {
            if (fgets(buffer, 128, pipe) != NULL)
                result += buffer;
        }
    } catch (...) {
        pclose(pipe);
        throw;
    }
    pclose(pipe);
    return result;
}

int sdp_search_spp(sdp_session_t *sdp, uint8_t *channel)
{
    int result = -1;
    sdp_list_t *srch, *attrs, *rsp;
    uuid_t svclass;
    uint16_t attr;
    int err;

    if (!sdp)
        return -1;

    sdp_uuid16_create(&svclass, SERIAL_PORT_SVCLASS_ID);
    srch = sdp_list_append(NULL, &svclass);

    attr = SDP_ATTR_PROTO_DESC_LIST;
    attrs = sdp_list_append(NULL, &attr);

    err = sdp_service_search_attr_req(sdp, srch, SDP_ATTR_REQ_INDIVIDUAL, attrs, &rsp);
    if (err)
        return -1;

    sdp_list_t *r = rsp;

    // go through each of the service records
    for (; r; r = r->next ) {
        sdp_record_t *rec = (sdp_record_t*) r->data;
        sdp_list_t *proto_list;

        // get a list of the protocol sequences
        if( sdp_get_access_protos( rec, &proto_list ) == 0 ) {
            sdp_list_t *p = proto_list;

            // go through each protocol sequence
            for( ; p ; p = p->next ) {
                sdp_list_t *pds = (sdp_list_t*)p->data;

                // go through each protocol list of the protocol sequence
                for( ; pds ; pds = pds->next ) {

                    // check the protocol attributes
                    sdp_data_t *d = (sdp_data_t*)pds->data;
                    int proto = 0;
                    for( ; d; d = d->next ) {
                        switch( d->dtd ) {
                        case SDP_UUID16:
                        case SDP_UUID32:
                        case SDP_UUID128:
                            proto = sdp_uuid_to_proto( &d->val.uuid );
                            break;
                        case SDP_UINT8:
                            if( proto == RFCOMM_UUID ) {
                                *channel=d->val.int8;
                                result = 0;
                            }
                            break;
                        }
                    }
                }
                sdp_list_free( (sdp_list_t*)p->data, 0 );
            }
            sdp_list_free( proto_list, 0 );
        }
        sdp_record_free( rec );
    }
    sdp_close(sdp);
    return result;
}

bool bindRFComm(const char* dest)
{
    bdaddr_t my_bdaddr_any = {0, 0, 0, 0, 0, 0};
    bdaddr_t target;
    sdp_session_t *session = 0;
    str2ba(dest, &target );

    //connect to the SDP server running on the remote machine
    session = sdp_connect( &my_bdaddr_any, &target, 0 );
    u_int8_t channel;

    if(sdp_search_spp(session,&channel) == 0)
    {
        printf("Found rfcomm on channel: %d\n",channel);
        sprintf(buf,"rfcomm bind 0 %s %d",dest,channel);
        printf("%s\n",buf);
        std::string bind = exec(buf);
        printf("%s\n",bind.c_str());
    }
    else
    {
        printf("Rfcomm service not found\n");
        return false;
    }

    return true;
}

void RobotDirection()
{
    unsigned char Speed = SerialPacket.m_Buffer[1];

    if(SerialPacket.m_Buffer[3] == 0x07)
    {
        m_IsRunning = true, ResetValues();
        current_sound = std::string("turk robot has been started");
        piThreadCreate (&speakEnglish) ;
        exec("aplay r2d2.wav");
        return;
    }
    else if(SerialPacket.m_Buffer[3] == 0x08)
    {
        m_IsRunning = false; ResetValues();
        balancePID.Reset();
        current_sound = std::string("turk robot has been stopped");
        piThreadCreate (&speakEnglish) ;
        exec("aplay r2d2.wav");
        return;
    }

    switch(SerialPacket.m_Buffer[3])
    {
    case 0x00:Speed_Need = 0;Turn_Need = 0;Position_Add = 0;break;
    case 0x01: Speed_Need = -Speed;current_sound = std::string("forward");piThreadCreate (&speakEnglish) ; break;
    case 0x02: Speed_Need = Speed;current_sound = std::string("back");piThreadCreate (&speakEnglish) ; break;
    case 0x03: Turn_Need = Speed; current_sound = std::string("left");piThreadCreate (&speakEnglish) ; break;
    case 0x04: Turn_Need = -Speed; current_sound = std::string("right");piThreadCreate (&speakEnglish) ; break;
    case 0x05: Correction = Correction + 0.1; break;
    case 0x06: Correction = Correction - 0.1; break;
    default:break;
    }

    updateConf();
    sprintf(buf,"Robot Direction(0x%02X): Sn: %d Tn: %d Cr: %0.2f",SerialPacket.m_Buffer[3],Speed_Need,Turn_Need,Correction);
    printf("%s\n",buf);
}

void UpdatePID()
{
    unsigned int Upper,Lower;
    double NewPara;
    Upper = SerialPacket.m_Buffer[2];
    Lower = SerialPacket.m_Buffer[1];
    NewPara = (float)(Upper<<8 | Lower)/100.0;

    switch(SerialPacket.m_Buffer[3])
    {
    case 0x01:aggKp = aggKm * NewPara;break;
    case 0x02:aggKi = aggKm * NewPara;break;
    case 0x03:aggKd = aggKm * NewPara;break;
    case 0x04:aggVs = NewPara;break;
    case 0x05:aggKm = NewPara;break;
    default:break;
    }

    updateConf();
    sprintf(buf,"\nUpdate PID(0x%02X) Kp: %0.2f Ki: %0.2f Kd: %0.2f  Vs: %0.2f  Km: %0.2f",SerialPacket.m_Buffer[3],aggKp,aggKi,aggKd,aggVs,aggKm);
    printf("%s\n",buf);
}

void UserComunication()
{
    if(SerialPacket.m_PackageOK == true)
    {
        SerialPacket.m_PackageOK = false;

        switch(SerialPacket.m_Buffer[4])
        {
        case 0x01:  break;
        case 0x02:  UpdatePID();break;
        case 0x03:  RobotDirection();break;
        case 0x04:  break;
        case 0x05:  break;
        case 0x06:  break;
        case 0x07:  break;
        default:    break;
        }
    }
}

void SetAlsaMasterVolume(long volume)
{
    long min, max;
    snd_mixer_t *handle;
    snd_mixer_selem_id_t *sid;
    const char *card = "default";
    const char *selem_name = "PCM";

    snd_mixer_open(&handle, 0);
    snd_mixer_attach(handle, card);
    snd_mixer_selem_register(handle, NULL, NULL);
    snd_mixer_load(handle);

    snd_mixer_selem_id_alloca(&sid);
    snd_mixer_selem_id_set_index(sid, 0);
    snd_mixer_selem_id_set_name(sid, selem_name);
    snd_mixer_elem_t* elem = snd_mixer_find_selem(handle, sid);

    snd_mixer_selem_get_playback_volume_range(elem, &min, &max);
    snd_mixer_selem_set_playback_volume_all(elem, volume * max / 100);

    snd_mixer_close(handle);
}

void MySerialEvent(uchar c)
{
    uchar tmp = 0;

    for(int i = 5; i > 0; i--)
    {
        SerialPacket.m_Buffer[i] = SerialPacket.m_Buffer[i-1];
    }

    SerialPacket.m_Buffer[0] = c;

    if(SerialPacket.m_Buffer[5] == 0xAA)
    {
        tmp = SerialPacket.m_Buffer[1]^SerialPacket.m_Buffer[2]^SerialPacket.m_Buffer[3];
        if(tmp == SerialPacket.m_Buffer[0])
        {
            SerialPacket.m_PackageOK = true;

            UserComunication();
        }
    }
}


int getData(char* data) {

    int n = 0,
            spot = 0;
    char buf = '\0';

    // If the port is actually open, read the data
    if (fd != -1) {

        do {
            n = read( fd, &buf, 1 );
            MySerialEvent((uchar)buf);
            sprintf( &data[spot], "%c", buf );
            spot += n;
        } while( buf != '\r' && n > 0);

        data[spot + 1] = '\0';
        return spot;
    }
    // Port is closed!
    else return -1;
}

bool sendData(char *data, unsigned int buf_size)
{
    if (fd != -1) {
        return write(fd, data, buf_size);
    }
    else
    {
        printf("write error...\n");
        return -1;
    }
}

void calculateGyro()
{
    //currentAngle = 0.9934 * (previousAngle + gyroAngle) + 0.0066 * (accAngle)

    timediff = (micros() - timer)/1000;
    double dt = (double)(micros() - timer) / 1000000; // Calculate delta time

    timer = micros();

    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
    // display accel/gyro x/y/z values
    //printf("accel/gyro: %6hd %6hd %6hd   %6hd %6hd %6hd\n",ax,ay,az,gx,gy,gz);

    accX = (int16_t)(ax);
    accY = (int16_t)(ay);
    accZ = (int16_t)(az);

    gyroX = (int16_t)(gx);
    gyroY = (int16_t)(gy);
    gyroZ = (int16_t)(gz);

    // It is then converted from radians to degrees
#ifdef RESTRICT_PITCH // Eq. 25 and 26
    double roll  = atan2(accY, accZ) * RAD_TO_DEG;
    double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
#else // Eq. 28 and 29
    double roll  = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG;
    double pitch = atan2(-accX, accZ) * RAD_TO_DEG;
#endif

    double gyroXrate = gyroX / 131.0; // Convert to deg/s
    double 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 degrees
    if ((roll < -90 && kalAngleX > 90) || (roll > 90 && kalAngleX < -90)) {
        kalmanX.setAngle(roll);
        compAngleX = roll;
        kalAngleX = roll;
        gyroXangle = roll;
    } else
        kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter

    if (abs(kalAngleX) > 90)
        gyroYrate = -gyroYrate; // Invert rate, so it fits the restriced accelerometer reading
    kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt);
#else
    // This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees
    if ((pitch < -90 && kalAngleY > 90) || (pitch > 90 && kalAngleY < -90)) {
        kalmanY.setAngle(pitch);
        compAngleY = pitch;
        kalAngleY = pitch;
        gyroYangle = pitch;
    } else
        kalAngleY = kalmanY.getAngle(pitch, gyroYrate, dt); // Calculate the angle using a Kalman filter

    if (abs(kalAngleY) > 90)
        gyroXrate = -gyroXrate; // Invert rate, so it fits the restriced accelerometer reading
    kalAngleX = kalmanX.getAngle(roll, gyroXrate, dt); // Calculate the angle using a Kalman filter
#endif

    if (gyroXangle < -180 || gyroXangle > 180)
        gyroXangle = kalAngleX;
    if (gyroYangle < -180 || gyroYangle > 180)
        gyroYangle = kalAngleY;

    DataAvg[2] = DataAvg[1];
    DataAvg[1] = DataAvg[0];
    DataAvg[0] = kalAngleX;

    Angle_MPU = (DataAvg[0]+DataAvg[1]+DataAvg[2])/3;

    Gyro_MPU = gyroXrate;
    Temperature = (double)accelgyro.getTemperature() / 340.0 + 36.53;
    // printf("Angle_MPU: %.2f  Time_Diff: %.1f\n",Angle_MPU,timediff);

}

void encodeL (void)
{
    if (digitalRead(SPD_PUL_L))
        Speed_L += 1;
    else
        Speed_L -= 1;

    //printf("Speed_L: %d\n",Speed_L);
}

void encodeR (void)
{
    if (digitalRead(SPD_PUL_R))
        Speed_R += 1;
    else
        Speed_R -= 1;

    //printf("Speed_R: %d\n",Speed_R);
}

void PWM_Calculate_Pos()
{
    float ftmp = 0;
    ftmp = (Speed_L + Speed_R) * 0.5;
    if( ftmp > 0)
        Position_AVG = ftmp +0.5;
    else
        Position_AVG = ftmp -0.5;

    Speed_Diff = Speed_L - Speed_R;
    Speed_Diff_ALL += Speed_Diff;

    Position_Add += Position_AVG;  //position
    //Position_Add += Speed_Need;  //
    Position_Add = constrain(Position_Add, -pwnLimit, pwnLimit);

    pwm =  (Angle_MPU + Correction  -  (Speed_Need / 10)) * aggKp           //P
            + Position_Add * aggKi        //I
            + Gyro_MPU * aggKd;           //D

    pwm_r =int(pwm + Turn_Need );
    pwm_l =int(pwm - Turn_Need );

    //printf("Angle: %.02f  pwm_r: %5d  pwm_l: %5d\n",Angle_MPU,pwm_r,pwm_l);

    Speed_L = 0;
    Speed_R = 0;
}

void correctSpeedDiff() 
{
    dSpeedError = Speed_Diff - lastSpeedError;

    speedAdjust = constrain(int((SKp * Speed_Diff) + (SKi * Speed_Diff_ALL) + (SKd * dSpeedError)), -pwnLimit, pwnLimit);
    lastSpeedError = Speed_Diff;

}

void PWM_Calculate()
{
    Speed_Diff = Speed_R + Speed_L;
    Speed_Diff_ALL += Speed_Diff;

    Setpoint = Correction +  (Speed_Need / 10);
    Input = Angle_MPU;
    angle_error = abs(Setpoint - Input); //distance away from setpoint
    correctSpeedDiff() ;

    float ftmp = 0;
    ftmp = (Speed_L + Speed_R) * 0.5;
    if( ftmp > 0)
        Position_AVG = ftmp +0.5;
    else
        Position_AVG = ftmp -0.5;

    Position_Add += Position_AVG;  //position
    Position_Add = constrain(Position_Add, -pwnLimit, pwnLimit);

    if (angle_error < 10)
    {   //we're close to setpoint, use conservative tuning parameters
        balancePID.SetTunings(aggKp/3, aggKi/3, aggKd/3);
    }
    else
    {   //we're far from setpoint, use aggressive tuning parameters
        balancePID.SetTunings(aggKp,   aggKi,  aggKd);
    }

    balancePID.Compute();

    pwm = -(int)(Output - (Gyro_MPU * aggKd / 5) - (Position_Add / 5));
    //pwm = -(int)(Output);

    pwm_r =int(pwm - aggVs * speedAdjust + Turn_Need);
    pwm_l =int(pwm + aggVs * speedAdjust - Turn_Need);

    //printf("Angle: %.02f  pwm_r: %3d  pwm_l: %3d\n",Angle_MPU,pwm_r,pwm_l);

    Speed_L = 0;
    Speed_R = 0;
}

void Robot_Control()
{
    if (pwm_r>0)
    {
        digitalWrite(PWMR1, HIGH);
        digitalWrite(PWMR2, LOW);
    }

    if (pwm_l>0)
    {
        digitalWrite(PWML1, LOW);
        digitalWrite(PWML2, HIGH);
    }

    if (pwm_r<0)
    {
        digitalWrite(PWMR1, LOW);
        digitalWrite(PWMR2, HIGH);
        pwm_r =- pwm_r;  //cchange to positive
    }

    if (pwm_l<0)
    {
        digitalWrite(PWML1, HIGH);
        digitalWrite(PWML2, LOW);
        pwm_l = -pwm_l;
    }

    if( Angle_MPU > 45 || Angle_MPU < -45 || !m_IsRunning)
    {
        pwm_l = 0;
        pwm_r = 0;
    }

    softPwmWrite(PWML, pwm_l);
    softPwmWrite(PWMR, pwm_r);
}


void speakTurkishRobot(std::string sound)
{
    std::string espeakBuff = std::string ("espeak -v tr+f5 ") + '"' + sound + '"' + " --stdout|aplay";
    exec(espeakBuff.c_str());
}

void speakEnglishRobot(std::string sound)
{
    std::string espeakBuff = std::string ("espeak -ven-us+f5 -s170  ") + '"' + sound + '"' + " --stdout|aplay";
    exec(espeakBuff.c_str());
}

PI_THREAD (serialThread)
{
    while (m_IsSerialThreadRunning)
    {
        char buffer[1024];

        getData(buffer);

        if(buffer[0] != '\0')
        {
            if(strstr (buffer,"espeaktr:"))
            {              
                current_sound = std::string(buffer).erase(0,9);
                piThreadCreate (&speakTurkish) ;
            }
            else if(strstr (buffer,"espeaken:"))
            {
                current_sound = std::string(buffer).erase(0,9);
                piThreadCreate (&speakEnglish) ;
            }
        }

        sprintf(buf, "Data:%d:%d:%0.2f:%d:%d:%d:%d:%0.2f:%0.2f:%0.2f:%0.2f:%0.2f:%0.2f:%0.2f:%0.2f:",
                pwm_l, pwm_r,Angle_MPU,Speed_Need,Turn_Need,Speed_L,Speed_R,aggKp,aggKi,aggKd,aggVs,aggKm,Temperature,Correction,angle_error);

        sendData(buf,strlen(buf));

        ::usleep(SLEEP_PERIOD * SERIAL_TIME);
    }

    return 0;
}

PI_THREAD (mainThread)
{
    while (1)
    {
        if(!m_IsMainThreadRunning)
        {
            softPwmWrite(PWML, 0);
            softPwmWrite(PWMR, 0);
            continue;
        }

        calculateGyro();
        PWM_Calculate();
        //PWM_Calculate_Pos();
        Robot_Control();

        ::usleep(SLEEP_PERIOD * SAMPLE_TIME);
    }

    return 0;
}

void initRfcomm()
{
    bool rfcomm_connected = false;
    printf("Trying to connect rfcomm port...\n");

    if(!connetRfComm())
    {
        fprintf (stderr, "Unable to connet rfcomm0: %s\n", strerror (errno));
        printf("Trying to bind rfcomm port...\n");

        if(bindRFComm(RfCommAndroidMac.c_str()))
        {
            if(connetRfComm())
            {
                rfcomm_connected = true;
                printf("Connet rfcomm0 successful.\n\n");
            }
        }
        else
            fprintf (stderr, "Unable to connet rfcomm0: %s\n", strerror (errno));
    }
    else
    {
        rfcomm_connected = true;
        printf("Connet rfcomm0 successful.\n\n");
    }

    if(rfcomm_connected)
    {
        m_IsSerialThreadRunning = true;
        piThreadCreate (&serialThread) ;
    }

}

void init()
{
    bool isMPU6050_Found = false;
    m_IsMainThreadRunning = false;
    m_IsSerialThreadRunning = false;

    // initialize device
    printf("\nInitializing I2C devices.\n");
    accelgyro.initialize();

    if(accelgyro.testConnection())
    {
        printf("MPU6050 connection successful.\n\n" );
        isMPU6050_Found = true;
    }
    else
    {
        printf("MPU6050 connection failed.\n\n");
    }

    if (wiringPiSetupPhys () < 0)
    {
        fprintf (stderr, "Unable to setup wiringPiSetupGpio: %s\n\n", strerror (errno)) ;
    }
    else
    {
        pinMode(PWML1, OUTPUT);
        pinMode(PWML2, OUTPUT);
        pinMode(PWMR1, OUTPUT);
        pinMode(PWMR2, OUTPUT);

        printf("Set pinModes ok.\n");

        softPwmCreate(PWML,0,pwnLimit);
        softPwmCreate(PWMR,0,pwnLimit);

        if (wiringPiISR (SPD_INT_L, INT_EDGE_FALLING, &encodeL) < 0)
        {
            fprintf (stderr, "Unable to setup ISR for left channel: %s\n", strerror (errno));
            return;
        }
        else
        {
            printf("Setup encodeL for left channel successful.\n");
        }

        if (wiringPiISR (SPD_INT_R, INT_EDGE_FALLING, &encodeR) < 0)
        {
            fprintf (stderr, "Unable to setup ISR for right channel: %s\n", strerror (errno));
            return;
        }
        else
        {
            printf("Setup encodeR for right channel successful.\n");
        }

        printf("wiringPiSetupPhys ok.\n\n");

        initRfcomm();

        initConf();

        balancePID.SetMode(AUTOMATIC);
        balancePID.SetSampleTime(SAMPLE_TIME);
        balancePID.SetOutputLimits(-pwnLimit, pwnLimit);

        DataAvg[0]=0; DataAvg[1]=0; DataAvg[2]=0;

        if(isMPU6050_Found)
        {
            m_IsMainThreadRunning = true;
            piThreadCreate (&mainThread) ;
        }
    }

    SetAlsaMasterVolume(100);

    exec("aplay r2d2.wav");
    current_sound = std::string("press start to run robot");
    piThreadCreate (&speakEnglish) ;

    timer = micros();
}

void  ExitHandler(int sig)
{
    signal(sig, SIG_IGN);
    m_IsMainThreadRunning = false;
    m_IsSerialThreadRunning = false;
    usleep(1000 * 100);

    printf("\b\bExiting...\n");

    softPwmWrite(PWML, 0);
    softPwmWrite(PWMR, 0);
    exit(0);
}

int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);
    signal(SIGINT, ExitHandler);

    if (getuid())
    {
        printf("%s", "You must be root for starting rfcomm.\n");
        //exit(0);
    }

    ResetValues();
    init();

    return a.exec();
}

/*void readMPU6050() // alternate read i2c method
{
    int fd;
    fd = wiringPiI2CSetup (0x68);
    wiringPiI2CWriteReg8 (fd,0x6B,0x00);//set the sleep unenable
    printf("set 0x6B=%X\n",wiringPiI2CReadReg8 (fd,0x6B));

    while(1)
    {
        printf("My valueX:%X+%X\n",wiringPiI2CReadReg8(fd, 0x43),wiringPiI2CReadReg8(fd, 0x44));
        printf("My valueY:%X+%X\n",wiringPiI2CReadReg8(fd, 0x45),wiringPiI2CReadReg8(fd, 0x46));
        printf("My valueZ:%X+%X\n---------------------\n",wiringPiI2CReadReg8(fd, 0x47),wiringPiI2CReadReg8(fd, 0x48));

        printf("My valueX:%X\n",wiringPiI2CReadReg16(fd, 0x43));
        printf("My valueY:%X\n",wiringPiI2CReadReg16(fd, 0x45));
        printf("My valueZ:%X\n------------------------\n",wiringPiI2CReadReg16(fd, 0x47));

        delay(1000);
    }
}*/

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