bool MutationDelGoal::operator()( Decomposition & decompo )
{
if( decompo.size() <= 1 ) {
return false;
} else {
#ifndef NDEBUG
eo::log << eo::debug << "D";
eo::log.flush();
eo::log << eo::xdebug << " DelGoal:" << std::endl << "\tBefore: ";
simplePrint( eo::log << eo::xdebug, decompo );
#endif
unsigned int i = rng.random( std::min( static_cast<unsigned int>(decompo.size()), static_cast<unsigned int>(decompo.last_reached() + 1) ) );
decompo.erase( decompo.iter_at( i ) );
#ifndef NDEBUG
eo::log << eo::xdebug << "\tdelete the " << i << "th goal" << std::endl;
eo::log << eo::xdebug << "\tAfter: ";
simplePrint( eo::log << eo::xdebug, decompo );
#endif
return true;
}
}
int motion_init(void){
int ret = 1;
Wire.begin(I2C_MASTER, 0x00, I2C_PINS_18_19, I2C_PULLUP_EXT, I2C_RATE_400);
while(ret){
if(MPU6050_Test_I2C()){simplePrint("MPU is alive\n");}
Setup_MPU6050();
delay(10);
ret = MPU6050_Check_Registers();
}
return(ret);
}
void testAssignment()
{
BinTree<int> t;
t.add(10,"").add(12,"L").add(14,"R").add(15,"LR");
simplePrint(t);
BinTree<int> t1;
t1 = t;
assert (t1.member(10) &&
t1.member (12) &&
t1.member (14) &&
t1.member (15));
}
void Setup_MPU6050(){
simplePrint("Setup\n");
//Sets sample rate to 1000/1+1 = 500Hz
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x01);
//Disable FSync, 48Hz DLPF
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_CONFIG, 0x03);
//Disable gyro self tests, scale of 500 degrees/s
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0b00001000);
//Disable accel self tests, scale of +-4g, no DHPF
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0b00001000);
//Freefall threshold of <|0mg|
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_THR, 0x00);
//Freefall duration limit of 0
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_DUR, 0x00);
//Motion threshold of >0mg
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_THR, 0x00);
//Motion duration of >0s
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DUR, 0x00);
//Zero motion threshold
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_THR, 0x00);
//Zero motion duration threshold
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_DUR, 0x00);
//Disable sensor output to FIFO buffer
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_EN, 0x00);
//AUX I2C setup
//Sets AUX I2C to single master control, plus other config
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_CTRL, 0x00);
//Setup AUX I2C slaves
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_ADDR, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_REG, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_CTRL, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_ADDR, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_REG, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_CTRL, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_ADDR, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_REG, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_CTRL, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_ADDR, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_REG, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_CTRL, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_ADDR, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_REG, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DO, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_CTRL, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DI, 0x00);
//MPU6050_RA_I2C_MST_STATUS //Read-only
//Setup INT pin and AUX I2C pass through
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_PIN_CFG, 0x00);
//Enable data ready interrupt
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00);
//MPU6050_RA_DMP_INT_STATUS //Read-only
//MPU6050_RA_INT_STATUS 3A //Read-only
//MPU6050_RA_ACCEL_XOUT_H //Read-only
//MPU6050_RA_ACCEL_XOUT_L //Read-only
//MPU6050_RA_ACCEL_YOUT_H //Read-only
//MPU6050_RA_ACCEL_YOUT_L //Read-only
//MPU6050_RA_ACCEL_ZOUT_H //Read-only
//MPU6050_RA_ACCEL_ZOUT_L //Read-only
//MPU6050_RA_TEMP_OUT_H //Read-only
//MPU6050_RA_TEMP_OUT_L //Read-only
//MPU6050_RA_GYRO_XOUT_H //Read-only
//MPU6050_RA_GYRO_XOUT_L //Read-only
//MPU6050_RA_GYRO_YOUT_H //Read-only
//MPU6050_RA_GYRO_YOUT_L //Read-only
//MPU6050_RA_GYRO_ZOUT_H //Read-only
//MPU6050_RA_GYRO_ZOUT_L //Read-only
//MPU6050_RA_EXT_SENS_DATA_00 //Read-only
//MPU6050_RA_EXT_SENS_DATA_01 //Read-only
//MPU6050_RA_EXT_SENS_DATA_02 //Read-only
//MPU6050_RA_EXT_SENS_DATA_03 //Read-only
//MPU6050_RA_EXT_SENS_DATA_04 //Read-only
//MPU6050_RA_EXT_SENS_DATA_05 //Read-only
//MPU6050_RA_EXT_SENS_DATA_06 //Read-only
//MPU6050_RA_EXT_SENS_DATA_07 //Read-only
//MPU6050_RA_EXT_SENS_DATA_08 //Read-only
//MPU6050_RA_EXT_SENS_DATA_09 //Read-only
//MPU6050_RA_EXT_SENS_DATA_10 //Read-only
//MPU6050_RA_EXT_SENS_DATA_11 //Read-only
//MPU6050_RA_EXT_SENS_DATA_12 //Read-only
//MPU6050_RA_EXT_SENS_DATA_13 //Read-only
//MPU6050_RA_EXT_SENS_DATA_14 //Read-only
//MPU6050_RA_EXT_SENS_DATA_15 //Read-only
//MPU6050_RA_EXT_SENS_DATA_16 //Read-only
//MPU6050_RA_EXT_SENS_DATA_17 //Read-only
//MPU6050_RA_EXT_SENS_DATA_18 //Read-only
//MPU6050_RA_EXT_SENS_DATA_19 //Read-only
//MPU6050_RA_EXT_SENS_DATA_20 //Read-only
//MPU6050_RA_EXT_SENS_DATA_21 //Read-only
//MPU6050_RA_EXT_SENS_DATA_22 //Read-only
//MPU6050_RA_EXT_SENS_DATA_23 //Read-only
//MPU6050_RA_MOT_DETECT_STATUS //Read-only
//Slave out, dont care
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_DO, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_DO, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_DO, 0x00);
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_DO, 0x00);
//More slave config
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x00);
//Reset sensor signal paths
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SIGNAL_PATH_RESET, 0x00);
//Motion detection control
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DETECT_CTRL, 0x00);
//Disables FIFO, AUX I2C, FIFO and I2C reset bits to 0
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_USER_CTRL, 0x00);
//Sets clock source to gyro reference w/ PLL
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0b00000010);
//Controls frequency of wakeups in accel low power mode plus the sensor standby modes
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_2, 0x00);
//MPU6050_RA_BANK_SEL //Not in datasheet
//MPU6050_RA_MEM_START_ADDR //Not in datasheet
//MPU6050_RA_MEM_R_W //Not in datasheet
//MPU6050_RA_DMP_CFG_1 //Not in datasheet
//MPU6050_RA_DMP_CFG_2 //Not in datasheet
//MPU6050_RA_FIFO_COUNTH //Read-only
//MPU6050_RA_FIFO_COUNTL //Read-only
//Data transfer to and from the FIFO buffer
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_R_W, 0x00);
//MPU6050_RA_WHO_AM_I //Read-only, I2C address
}
void motion_calibrate(void){
Calibrate_Gyros();
simplePrint("Gyros calibrated\n");
}