Source code for Active Aerodynamics and Drag Reduction System
Dependencies: mbed Servo mbed-rtos LSM9DS1_Library_cal MPL3115A2
main.cpp@4:8442a7d55f23, 2020-04-23 (annotated)
- Committer:
- skiley6
- Date:
- Thu Apr 23 20:05:58 2020 +0000
- Revision:
- 4:8442a7d55f23
- Parent:
- 3:4b9d098dcb04
- Child:
- 5:295fe3425a73
Implemented Active Roll and DRS that toggles back to previous state. Also added correct information to be relaying back to phone based on state. Added Off mode adjustments for specific hold positions\
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cheryldocherty | 0:04fef978a0ab | 1 | #include "mbed.h" |
cheryldocherty | 0:04fef978a0ab | 2 | #include "rtos.h" |
cheryldocherty | 0:04fef978a0ab | 3 | #include "Servo.h" |
cheryldocherty | 0:04fef978a0ab | 4 | #include "LSM9DS1.h" |
cheryldocherty | 0:04fef978a0ab | 5 | #define PI 3.14159 // Used in IMU code |
cheryldocherty | 0:04fef978a0ab | 6 | #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA (Used in IMU code) |
cheryldocherty | 0:04fef978a0ab | 7 | |
cheryldocherty | 0:04fef978a0ab | 8 | |
skiley6 | 3:4b9d098dcb04 | 9 | // SETUP |
skiley6 | 3:4b9d098dcb04 | 10 | Servo servoFR(p21); |
skiley6 | 3:4b9d098dcb04 | 11 | Servo servoFL(p22); |
skiley6 | 3:4b9d098dcb04 | 12 | Servo servoRR(p23); |
skiley6 | 3:4b9d098dcb04 | 13 | Servo servoRL(p24); |
cheryldocherty | 0:04fef978a0ab | 14 | LSM9DS1 IMU(p9, p10, 0xD6, 0x3C); |
skiley6 | 3:4b9d098dcb04 | 15 | RawSerial blue(p13,p14); // bluetooth |
skiley6 | 3:4b9d098dcb04 | 16 | Serial pc(USBTX, USBRX); // tx, rx |
skiley6 | 3:4b9d098dcb04 | 17 | |
cheryldocherty | 0:04fef978a0ab | 18 | //BusOut myled(LED1,LED2,LED3,LED4); //bluetooth debugging |
skiley6 | 3:4b9d098dcb04 | 19 | DigitalOut led1(LED1); |
skiley6 | 3:4b9d098dcb04 | 20 | DigitalOut led2(LED2); |
skiley6 | 3:4b9d098dcb04 | 21 | DigitalOut led3(LED3); |
skiley6 | 3:4b9d098dcb04 | 22 | DigitalOut led4(LED4); |
cheryldocherty | 0:04fef978a0ab | 23 | |
skiley6 | 3:4b9d098dcb04 | 24 | //THREADS |
skiley6 | 3:4b9d098dcb04 | 25 | Thread blueRXThread; |
skiley6 | 3:4b9d098dcb04 | 26 | Thread blueTXThread; |
skiley6 | 4:8442a7d55f23 | 27 | Thread sensorThread; |
skiley6 | 3:4b9d098dcb04 | 28 | Thread servoThread; |
cheryldocherty | 0:04fef978a0ab | 29 | |
cheryldocherty | 0:04fef978a0ab | 30 | // VARIABLE DECLARATIONS |
skiley6 | 3:4b9d098dcb04 | 31 | volatile float YawRate; |
skiley6 | 4:8442a7d55f23 | 32 | volatile float roll; |
skiley6 | 4:8442a7d55f23 | 33 | volatile float midTemp; |
cheryldocherty | 0:04fef978a0ab | 34 | |
skiley6 | 3:4b9d098dcb04 | 35 | enum statetype {Off = 0, Testing, DRS_Active, Active_Yaw, Active_Roll}; |
skiley6 | 3:4b9d098dcb04 | 36 | volatile statetype servoState = Off; |
skiley6 | 4:8442a7d55f23 | 37 | volatile statetype lastState = Off; |
skiley6 | 4:8442a7d55f23 | 38 | |
skiley6 | 4:8442a7d55f23 | 39 | enum editstate {editFront = 0, editRear, editAll}; |
skiley6 | 4:8442a7d55f23 | 40 | volatile editstate edit = editAll; |
skiley6 | 4:8442a7d55f23 | 41 | volatile float cF = 0.5; |
skiley6 | 4:8442a7d55f23 | 42 | volatile float cR = 0.5; |
skiley6 | 4:8442a7d55f23 | 43 | |
cheryldocherty | 0:04fef978a0ab | 44 | |
cheryldocherty | 0:04fef978a0ab | 45 | // FUNCTION DECLARATIONS |
skiley6 | 3:4b9d098dcb04 | 46 | void blueRX() |
cheryldocherty | 0:04fef978a0ab | 47 | { |
skiley6 | 3:4b9d098dcb04 | 48 | char bnum=0; |
skiley6 | 3:4b9d098dcb04 | 49 | char bhit=0; |
skiley6 | 3:4b9d098dcb04 | 50 | while(1) { |
skiley6 | 3:4b9d098dcb04 | 51 | if (blue.readable()) { //if not ready with a character yield time slice! |
skiley6 | 3:4b9d098dcb04 | 52 | if (blue.getc()=='!') { //getc is one character only! |
skiley6 | 3:4b9d098dcb04 | 53 | //since GUI button sends all characters in string fast don't need to do |
skiley6 | 3:4b9d098dcb04 | 54 | //readable each time, but can if you wanted to |
skiley6 | 3:4b9d098dcb04 | 55 | if (blue.getc()=='B') |
skiley6 | 3:4b9d098dcb04 | 56 | { //button data |
skiley6 | 3:4b9d098dcb04 | 57 | bnum = blue.getc(); //button number |
skiley6 | 3:4b9d098dcb04 | 58 | bhit = blue.getc(); //save to check for '1' for hit only - ignored release is '0' |
skiley6 | 3:4b9d098dcb04 | 59 | |
skiley6 | 3:4b9d098dcb04 | 60 | switch (bnum) |
skiley6 | 3:4b9d098dcb04 | 61 | { |
skiley6 | 3:4b9d098dcb04 | 62 | case '1': //number button 1 - DRS Enabled |
skiley6 | 3:4b9d098dcb04 | 63 | if (bhit=='1') { |
skiley6 | 4:8442a7d55f23 | 64 | if(servoState != DRS_Active) |
skiley6 | 3:4b9d098dcb04 | 65 | { |
skiley6 | 4:8442a7d55f23 | 66 | lastState = servoState; |
skiley6 | 4:8442a7d55f23 | 67 | servoState = DRS_Active; |
skiley6 | 3:4b9d098dcb04 | 68 | } |
skiley6 | 3:4b9d098dcb04 | 69 | else |
skiley6 | 3:4b9d098dcb04 | 70 | { |
skiley6 | 4:8442a7d55f23 | 71 | servoState = lastState; |
skiley6 | 3:4b9d098dcb04 | 72 | } |
skiley6 | 4:8442a7d55f23 | 73 | } |
skiley6 | 3:4b9d098dcb04 | 74 | break; |
skiley6 | 3:4b9d098dcb04 | 75 | case '2': //number button 2 - Active Aero Yaw Based |
skiley6 | 3:4b9d098dcb04 | 76 | if (bhit=='1') { |
skiley6 | 3:4b9d098dcb04 | 77 | if(servoState == Active_Yaw) |
skiley6 | 3:4b9d098dcb04 | 78 | { |
skiley6 | 3:4b9d098dcb04 | 79 | servoState = Off; |
skiley6 | 3:4b9d098dcb04 | 80 | } |
skiley6 | 3:4b9d098dcb04 | 81 | else |
skiley6 | 3:4b9d098dcb04 | 82 | { |
skiley6 | 3:4b9d098dcb04 | 83 | servoState = Active_Yaw; |
skiley6 | 3:4b9d098dcb04 | 84 | } |
skiley6 | 4:8442a7d55f23 | 85 | } |
skiley6 | 3:4b9d098dcb04 | 86 | break; |
skiley6 | 3:4b9d098dcb04 | 87 | case '3': //number button 3 - Active Aero Roll Based |
skiley6 | 3:4b9d098dcb04 | 88 | if (bhit=='1') { |
skiley6 | 3:4b9d098dcb04 | 89 | if(servoState == Active_Roll) |
skiley6 | 3:4b9d098dcb04 | 90 | { |
skiley6 | 3:4b9d098dcb04 | 91 | servoState = Off; |
skiley6 | 3:4b9d098dcb04 | 92 | } |
skiley6 | 3:4b9d098dcb04 | 93 | else |
skiley6 | 3:4b9d098dcb04 | 94 | { |
skiley6 | 3:4b9d098dcb04 | 95 | servoState = Active_Roll; |
skiley6 | 3:4b9d098dcb04 | 96 | } |
skiley6 | 3:4b9d098dcb04 | 97 | } |
skiley6 | 3:4b9d098dcb04 | 98 | break; |
skiley6 | 3:4b9d098dcb04 | 99 | case '4': //number button 4 - Testing Flaps |
skiley6 | 3:4b9d098dcb04 | 100 | if (bhit=='1') { |
skiley6 | 3:4b9d098dcb04 | 101 | servoState = Testing; |
skiley6 | 4:8442a7d55f23 | 102 | } |
skiley6 | 4:8442a7d55f23 | 103 | break; |
skiley6 | 4:8442a7d55f23 | 104 | case '5': //button 5 up arrow |
skiley6 | 4:8442a7d55f23 | 105 | if (bhit=='1') { |
skiley6 | 4:8442a7d55f23 | 106 | if(edit == editFront) |
skiley6 | 4:8442a7d55f23 | 107 | { |
skiley6 | 4:8442a7d55f23 | 108 | cF += 0.05; |
skiley6 | 4:8442a7d55f23 | 109 | if(cF > 0.5){ |
skiley6 | 4:8442a7d55f23 | 110 | cF = 0.5; |
skiley6 | 4:8442a7d55f23 | 111 | } |
skiley6 | 4:8442a7d55f23 | 112 | //Thread::wait(20); |
skiley6 | 4:8442a7d55f23 | 113 | } |
skiley6 | 4:8442a7d55f23 | 114 | else if(edit == editRear) |
skiley6 | 4:8442a7d55f23 | 115 | { |
skiley6 | 4:8442a7d55f23 | 116 | cR += 0.05; |
skiley6 | 4:8442a7d55f23 | 117 | if(cR > 0.5){ |
skiley6 | 4:8442a7d55f23 | 118 | cR = 0.5; |
skiley6 | 4:8442a7d55f23 | 119 | } |
skiley6 | 4:8442a7d55f23 | 120 | //Thread::wait(20); |
skiley6 | 4:8442a7d55f23 | 121 | } |
skiley6 | 4:8442a7d55f23 | 122 | else{ |
skiley6 | 4:8442a7d55f23 | 123 | cF += 0.05; |
skiley6 | 4:8442a7d55f23 | 124 | cR += 0.05; |
skiley6 | 4:8442a7d55f23 | 125 | |
skiley6 | 4:8442a7d55f23 | 126 | if(cR > 0.5){ |
skiley6 | 4:8442a7d55f23 | 127 | cR = 0.5; |
skiley6 | 4:8442a7d55f23 | 128 | } |
skiley6 | 4:8442a7d55f23 | 129 | if(cF > 0.5){ |
skiley6 | 4:8442a7d55f23 | 130 | cF = 0.5; |
skiley6 | 4:8442a7d55f23 | 131 | } |
skiley6 | 4:8442a7d55f23 | 132 | //Thread::wait(20); |
skiley6 | 4:8442a7d55f23 | 133 | } |
skiley6 | 4:8442a7d55f23 | 134 | } |
skiley6 | 4:8442a7d55f23 | 135 | break; |
skiley6 | 4:8442a7d55f23 | 136 | case '6': //button 6 down arrow |
skiley6 | 4:8442a7d55f23 | 137 | if (bhit=='1') { |
skiley6 | 4:8442a7d55f23 | 138 | if(edit == editFront) |
skiley6 | 4:8442a7d55f23 | 139 | { |
skiley6 | 4:8442a7d55f23 | 140 | cF -= 0.05; |
skiley6 | 4:8442a7d55f23 | 141 | if(cF < 0){ |
skiley6 | 4:8442a7d55f23 | 142 | cF = 0; |
skiley6 | 4:8442a7d55f23 | 143 | } |
skiley6 | 4:8442a7d55f23 | 144 | //Thread::wait(20); |
skiley6 | 4:8442a7d55f23 | 145 | } |
skiley6 | 4:8442a7d55f23 | 146 | else if(edit == editRear) |
skiley6 | 4:8442a7d55f23 | 147 | { |
skiley6 | 4:8442a7d55f23 | 148 | cR -= 0.05; |
skiley6 | 4:8442a7d55f23 | 149 | if(cR < 0){ |
skiley6 | 4:8442a7d55f23 | 150 | cR = 0; |
skiley6 | 4:8442a7d55f23 | 151 | } |
skiley6 | 4:8442a7d55f23 | 152 | //Thread::wait(20); |
skiley6 | 4:8442a7d55f23 | 153 | } |
skiley6 | 4:8442a7d55f23 | 154 | else{ |
skiley6 | 4:8442a7d55f23 | 155 | cF -= 0.05; |
skiley6 | 4:8442a7d55f23 | 156 | cR -= 0.05; |
skiley6 | 4:8442a7d55f23 | 157 | |
skiley6 | 4:8442a7d55f23 | 158 | if(cR < 0){ |
skiley6 | 4:8442a7d55f23 | 159 | cR = 0; |
skiley6 | 4:8442a7d55f23 | 160 | } |
skiley6 | 4:8442a7d55f23 | 161 | if(cF < 0){ |
skiley6 | 4:8442a7d55f23 | 162 | cF = 0; |
skiley6 | 4:8442a7d55f23 | 163 | } |
skiley6 | 4:8442a7d55f23 | 164 | //Thread::wait(20); |
skiley6 | 4:8442a7d55f23 | 165 | } |
skiley6 | 4:8442a7d55f23 | 166 | } |
skiley6 | 4:8442a7d55f23 | 167 | break; |
skiley6 | 4:8442a7d55f23 | 168 | case '7': //button 7 left arrow |
skiley6 | 4:8442a7d55f23 | 169 | if (bhit=='1') { |
skiley6 | 4:8442a7d55f23 | 170 | servoState = Off; |
skiley6 | 4:8442a7d55f23 | 171 | edit = editFront; |
skiley6 | 4:8442a7d55f23 | 172 | } |
skiley6 | 4:8442a7d55f23 | 173 | else{ |
skiley6 | 4:8442a7d55f23 | 174 | edit = editAll; |
skiley6 | 4:8442a7d55f23 | 175 | } |
skiley6 | 4:8442a7d55f23 | 176 | break; |
skiley6 | 4:8442a7d55f23 | 177 | case '8': //button 8 right arrow |
skiley6 | 4:8442a7d55f23 | 178 | if (bhit=='1') { |
skiley6 | 4:8442a7d55f23 | 179 | servoState = Off; |
skiley6 | 4:8442a7d55f23 | 180 | edit = editRear; |
skiley6 | 4:8442a7d55f23 | 181 | } |
skiley6 | 4:8442a7d55f23 | 182 | else{ |
skiley6 | 4:8442a7d55f23 | 183 | edit = editAll; |
skiley6 | 3:4b9d098dcb04 | 184 | } |
skiley6 | 3:4b9d098dcb04 | 185 | break; |
skiley6 | 3:4b9d098dcb04 | 186 | default: |
skiley6 | 4:8442a7d55f23 | 187 | break; |
skiley6 | 3:4b9d098dcb04 | 188 | } |
skiley6 | 4:8442a7d55f23 | 189 | |
skiley6 | 3:4b9d098dcb04 | 190 | } |
cheryldocherty | 0:04fef978a0ab | 191 | } |
skiley6 | 3:4b9d098dcb04 | 192 | } else Thread::yield();// give up rest of time slice when no characters to read |
skiley6 | 3:4b9d098dcb04 | 193 | } |
cheryldocherty | 0:04fef978a0ab | 194 | } |
cheryldocherty | 0:04fef978a0ab | 195 | |
skiley6 | 3:4b9d098dcb04 | 196 | void blueTX() |
skiley6 | 3:4b9d098dcb04 | 197 | { |
skiley6 | 4:8442a7d55f23 | 198 | //float lastF = 0; |
skiley6 | 4:8442a7d55f23 | 199 | //float last R = 0; |
skiley6 | 4:8442a7d55f23 | 200 | //statetype lastState = Off; |
skiley6 | 4:8442a7d55f23 | 201 | //editState lastEdit = editALL; |
skiley6 | 4:8442a7d55f23 | 202 | //blue.printf("Mode: HOLD........||Front:%3.0f%%||........||Rear:%3.0f%%||\n", ceil(cF/0.5 * 100), ceil(cR/0.5 * 100)); |
skiley6 | 4:8442a7d55f23 | 203 | |
skiley6 | 3:4b9d098dcb04 | 204 | while(1) |
skiley6 | 3:4b9d098dcb04 | 205 | { |
skiley6 | 4:8442a7d55f23 | 206 | //Off = 0, Testing, DRS_Active, Active_Yaw, Active_Roll |
skiley6 | 3:4b9d098dcb04 | 207 | //Send data |
skiley6 | 4:8442a7d55f23 | 208 | |
skiley6 | 4:8442a7d55f23 | 209 | switch (servoState) |
skiley6 | 4:8442a7d55f23 | 210 | { |
skiley6 | 4:8442a7d55f23 | 211 | case Off: |
skiley6 | 4:8442a7d55f23 | 212 | if(edit == editFront) |
skiley6 | 4:8442a7d55f23 | 213 | { |
skiley6 | 4:8442a7d55f23 | 214 | blue.printf("Mode: HOLD.........||Front:%3.0f%%||.........Rear:%3.0f%%\n", ceil(cF/0.5 * 100), ceil(cR/0.5 * 100)); |
skiley6 | 4:8442a7d55f23 | 215 | } |
skiley6 | 4:8442a7d55f23 | 216 | else if(edit == editRear) |
skiley6 | 4:8442a7d55f23 | 217 | { |
skiley6 | 4:8442a7d55f23 | 218 | blue.printf("Mode: HOLD.........Front:%3.0f%%.........||Rear:%3.0f%%||\n", ceil(cF/0.5 * 100), ceil(cR/0.5 * 100)); |
skiley6 | 4:8442a7d55f23 | 219 | } |
skiley6 | 4:8442a7d55f23 | 220 | else |
skiley6 | 4:8442a7d55f23 | 221 | { |
skiley6 | 4:8442a7d55f23 | 222 | blue.printf("Mode: HOLD......||Front:%3.0f%%||......||Rear:%3.0f%%||\n", ceil(cF/0.5 * 100), ceil(cR/0.5 * 100)); |
skiley6 | 4:8442a7d55f23 | 223 | } |
skiley6 | 4:8442a7d55f23 | 224 | break; |
skiley6 | 4:8442a7d55f23 | 225 | case Testing: |
skiley6 | 4:8442a7d55f23 | 226 | |
skiley6 | 4:8442a7d55f23 | 227 | blue.printf("Mode: Testing Flaps......................................\n"); |
skiley6 | 4:8442a7d55f23 | 228 | break; |
skiley6 | 4:8442a7d55f23 | 229 | case DRS_Active: |
skiley6 | 4:8442a7d55f23 | 230 | blue.printf("....................Mode: DRS ACTIVATED....................\n"); |
skiley6 | 4:8442a7d55f23 | 231 | break; |
skiley6 | 4:8442a7d55f23 | 232 | case Active_Yaw: |
skiley6 | 4:8442a7d55f23 | 233 | blue.printf("Mode: ACTIVE-YAW.......YawRate: %3.0f deg/s........\n", YawRate); |
skiley6 | 4:8442a7d55f23 | 234 | break; |
skiley6 | 4:8442a7d55f23 | 235 | case Active_Roll: |
skiley6 | 4:8442a7d55f23 | 236 | blue.printf("Mode: ACTIVE-ROLL..........roll: %3.0f deg...............\n", roll); |
skiley6 | 4:8442a7d55f23 | 237 | break; |
skiley6 | 4:8442a7d55f23 | 238 | default: |
skiley6 | 4:8442a7d55f23 | 239 | break; |
skiley6 | 3:4b9d098dcb04 | 240 | |
skiley6 | 4:8442a7d55f23 | 241 | } |
skiley6 | 3:4b9d098dcb04 | 242 | Thread::wait(200); |
skiley6 | 3:4b9d098dcb04 | 243 | } |
skiley6 | 3:4b9d098dcb04 | 244 | } |
cheryldocherty | 0:04fef978a0ab | 245 | // IMU - caluclate pitch and roll |
skiley6 | 4:8442a7d55f23 | 246 | float getRoll(float ax, float az) |
cheryldocherty | 0:04fef978a0ab | 247 | { |
skiley6 | 4:8442a7d55f23 | 248 | float roll_t = atan2(ax, az); |
skiley6 | 4:8442a7d55f23 | 249 | |
skiley6 | 4:8442a7d55f23 | 250 | roll_t *= 180.0 / PI; |
skiley6 | 4:8442a7d55f23 | 251 | |
skiley6 | 4:8442a7d55f23 | 252 | return roll_t; |
cheryldocherty | 0:04fef978a0ab | 253 | } |
cheryldocherty | 0:04fef978a0ab | 254 | |
cheryldocherty | 0:04fef978a0ab | 255 | // IMU - read and display magnetometer, gyroscope, acceleration values |
skiley6 | 4:8442a7d55f23 | 256 | void getSensorData() |
cheryldocherty | 0:04fef978a0ab | 257 | { |
skiley6 | 3:4b9d098dcb04 | 258 | while(1) |
skiley6 | 3:4b9d098dcb04 | 259 | { |
skiley6 | 3:4b9d098dcb04 | 260 | while(!IMU.gyroAvailable()); |
skiley6 | 3:4b9d098dcb04 | 261 | IMU.readGyro(); |
skiley6 | 4:8442a7d55f23 | 262 | IMU.readAccel(); |
skiley6 | 4:8442a7d55f23 | 263 | //IMU.readTemp(); |
skiley6 | 3:4b9d098dcb04 | 264 | YawRate = IMU.calcGyro(IMU.gz); |
skiley6 | 4:8442a7d55f23 | 265 | roll = getRoll(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.az)); |
skiley6 | 4:8442a7d55f23 | 266 | //midTemp = (25.0 + IMU.temperature/16.0) * (9/5) + 32; //get into C then into F |
skiley6 | 3:4b9d098dcb04 | 267 | Thread::wait(50); |
skiley6 | 3:4b9d098dcb04 | 268 | } |
skiley6 | 3:4b9d098dcb04 | 269 | |
skiley6 | 3:4b9d098dcb04 | 270 | /* |
cheryldocherty | 0:04fef978a0ab | 271 | while(!IMU.magAvailable(X_AXIS)); |
cheryldocherty | 0:04fef978a0ab | 272 | IMU.readMag(); |
cheryldocherty | 0:04fef978a0ab | 273 | while(!IMU.accelAvailable()); |
cheryldocherty | 0:04fef978a0ab | 274 | IMU.readAccel(); |
cheryldocherty | 0:04fef978a0ab | 275 | while(!IMU.gyroAvailable()); |
cheryldocherty | 0:04fef978a0ab | 276 | IMU.readGyro(); |
cheryldocherty | 0:04fef978a0ab | 277 | pc.printf(" X axis Y axis Z axis\n\r"); |
cheryldocherty | 0:04fef978a0ab | 278 | pc.printf("gyro: %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz)); |
cheryldocherty | 0:04fef978a0ab | 279 | pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az)); |
cheryldocherty | 0:04fef978a0ab | 280 | pc.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz)); |
abir77935 | 2:426f26e9801d | 281 | printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz)); |
abir77935 | 1:8e8aac99a366 | 282 | |
abir77935 | 2:426f26e9801d | 283 | zAccel = IMU.calcAccel(IMU.az);//setting global variable for storage of z-Axis acceleration |
abir77935 | 2:426f26e9801d | 284 | yAccel = IMU.calcAccel(IMU.ay); |
abir77935 | 2:426f26e9801d | 285 | xAccel = IMU.calcAccel(IMU.ax); |
skiley6 | 3:4b9d098dcb04 | 286 | */ |
cheryldocherty | 0:04fef978a0ab | 287 | } |
cheryldocherty | 0:04fef978a0ab | 288 | |
skiley6 | 3:4b9d098dcb04 | 289 | void setServos() |
skiley6 | 3:4b9d098dcb04 | 290 | { |
cheryldocherty | 0:04fef978a0ab | 291 | |
skiley6 | 3:4b9d098dcb04 | 292 | uint32_t testSpeed = 20; |
skiley6 | 3:4b9d098dcb04 | 293 | float testPrec = 0.05; |
skiley6 | 3:4b9d098dcb04 | 294 | |
skiley6 | 3:4b9d098dcb04 | 295 | |
skiley6 | 3:4b9d098dcb04 | 296 | while(1) |
skiley6 | 3:4b9d098dcb04 | 297 | { |
skiley6 | 3:4b9d098dcb04 | 298 | switch(servoState) |
skiley6 | 3:4b9d098dcb04 | 299 | { |
skiley6 | 3:4b9d098dcb04 | 300 | case Off: //close all flaps |
skiley6 | 4:8442a7d55f23 | 301 | servoFR = cF; |
skiley6 | 4:8442a7d55f23 | 302 | servoFL = 1 - cF; |
skiley6 | 4:8442a7d55f23 | 303 | servoRR = cR; |
skiley6 | 4:8442a7d55f23 | 304 | servoRL = 1 - cR; |
skiley6 | 3:4b9d098dcb04 | 305 | |
skiley6 | 3:4b9d098dcb04 | 306 | Thread::wait(250); //longer wait because of Off state |
skiley6 | 3:4b9d098dcb04 | 307 | break; |
skiley6 | 3:4b9d098dcb04 | 308 | case Testing: |
skiley6 | 3:4b9d098dcb04 | 309 | |
skiley6 | 3:4b9d098dcb04 | 310 | servoFR = 0; |
skiley6 | 3:4b9d098dcb04 | 311 | servoFL = 1; |
skiley6 | 3:4b9d098dcb04 | 312 | servoRR = 0; |
skiley6 | 3:4b9d098dcb04 | 313 | servoRL = 1; |
skiley6 | 3:4b9d098dcb04 | 314 | Thread::wait(500); |
skiley6 | 3:4b9d098dcb04 | 315 | |
skiley6 | 3:4b9d098dcb04 | 316 | for(float i=0; i<0.5; i+= testPrec) { |
skiley6 | 3:4b9d098dcb04 | 317 | servoFR = i; |
skiley6 | 3:4b9d098dcb04 | 318 | servoRR = i; |
skiley6 | 3:4b9d098dcb04 | 319 | Thread::wait(testSpeed); |
skiley6 | 3:4b9d098dcb04 | 320 | } |
skiley6 | 3:4b9d098dcb04 | 321 | for(float i=0.5; i>0; i-= testPrec) { |
skiley6 | 3:4b9d098dcb04 | 322 | servoFR = i; |
skiley6 | 3:4b9d098dcb04 | 323 | servoRR = i; |
skiley6 | 3:4b9d098dcb04 | 324 | Thread::wait(testSpeed); |
skiley6 | 3:4b9d098dcb04 | 325 | } |
skiley6 | 3:4b9d098dcb04 | 326 | |
skiley6 | 3:4b9d098dcb04 | 327 | for(float i=0; i<0.5; i+= testPrec) { |
skiley6 | 3:4b9d098dcb04 | 328 | servoFL = 1 - i; |
skiley6 | 3:4b9d098dcb04 | 329 | servoRL = 1 - i; |
skiley6 | 3:4b9d098dcb04 | 330 | Thread::wait(testSpeed); |
skiley6 | 3:4b9d098dcb04 | 331 | } |
skiley6 | 3:4b9d098dcb04 | 332 | for(float i=0.5; i>0; i-= testPrec) { |
skiley6 | 3:4b9d098dcb04 | 333 | servoFL = 1 - i; |
skiley6 | 3:4b9d098dcb04 | 334 | servoRL = 1 - i; |
skiley6 | 3:4b9d098dcb04 | 335 | Thread::wait(testSpeed); |
skiley6 | 3:4b9d098dcb04 | 336 | } |
skiley6 | 3:4b9d098dcb04 | 337 | |
skiley6 | 3:4b9d098dcb04 | 338 | for(float i=0; i<0.5; i+= testPrec) { |
skiley6 | 3:4b9d098dcb04 | 339 | servoFR = i; |
skiley6 | 3:4b9d098dcb04 | 340 | servoRR = i; |
skiley6 | 3:4b9d098dcb04 | 341 | servoFL = 1 - i; |
skiley6 | 3:4b9d098dcb04 | 342 | servoRL = 1 - i; |
skiley6 | 3:4b9d098dcb04 | 343 | Thread::wait(testSpeed); |
skiley6 | 3:4b9d098dcb04 | 344 | } |
skiley6 | 3:4b9d098dcb04 | 345 | for(float i=.5; i>0; i-= testPrec) { |
skiley6 | 3:4b9d098dcb04 | 346 | servoFR = i; |
skiley6 | 3:4b9d098dcb04 | 347 | servoRR = i; |
skiley6 | 3:4b9d098dcb04 | 348 | servoFL = 1 - i; |
skiley6 | 3:4b9d098dcb04 | 349 | servoRL = 1 - i; |
skiley6 | 3:4b9d098dcb04 | 350 | Thread::wait(testSpeed); |
skiley6 | 3:4b9d098dcb04 | 351 | } |
skiley6 | 3:4b9d098dcb04 | 352 | servoState = Off; |
skiley6 | 3:4b9d098dcb04 | 353 | break; |
skiley6 | 3:4b9d098dcb04 | 354 | case DRS_Active: |
skiley6 | 3:4b9d098dcb04 | 355 | |
skiley6 | 3:4b9d098dcb04 | 356 | servoFR = 0.25; |
skiley6 | 3:4b9d098dcb04 | 357 | servoFL = 1 - 0.25; |
skiley6 | 3:4b9d098dcb04 | 358 | servoRR = 0; |
skiley6 | 3:4b9d098dcb04 | 359 | servoRL = 1 - 0;; |
skiley6 | 3:4b9d098dcb04 | 360 | Thread::wait(250); |
skiley6 | 3:4b9d098dcb04 | 361 | |
skiley6 | 3:4b9d098dcb04 | 362 | break; |
skiley6 | 3:4b9d098dcb04 | 363 | |
skiley6 | 3:4b9d098dcb04 | 364 | case Active_Yaw: |
skiley6 | 3:4b9d098dcb04 | 365 | float tempFront = 0.0; |
skiley6 | 3:4b9d098dcb04 | 366 | float tempRear = 0.0; |
skiley6 | 3:4b9d098dcb04 | 367 | float newFront = 0.0; |
skiley6 | 3:4b9d098dcb04 | 368 | float newRear = 0.0; |
skiley6 | 3:4b9d098dcb04 | 369 | |
skiley6 | 3:4b9d098dcb04 | 370 | tempFront = YawRate/200; //divide to get into 0 -> 0.5 range for front wings |
skiley6 | 3:4b9d098dcb04 | 371 | tempRear = YawRate/400; //divide to get into 0 -> 0.25 range for rear wings |
skiley6 | 3:4b9d098dcb04 | 372 | |
skiley6 | 3:4b9d098dcb04 | 373 | if(YawRate >= 10) //if turning Left |
skiley6 | 3:4b9d098dcb04 | 374 | { |
skiley6 | 3:4b9d098dcb04 | 375 | newFront = 0.5 - tempFront; //open up right flaps |
skiley6 | 3:4b9d098dcb04 | 376 | newRear = 0.25 - tempRear; |
skiley6 | 3:4b9d098dcb04 | 377 | |
skiley6 | 3:4b9d098dcb04 | 378 | if(newFront < 0) |
skiley6 | 3:4b9d098dcb04 | 379 | { |
skiley6 | 3:4b9d098dcb04 | 380 | servoFR = 0; |
skiley6 | 3:4b9d098dcb04 | 381 | servoRR = 0.25; |
skiley6 | 3:4b9d098dcb04 | 382 | } |
skiley6 | 3:4b9d098dcb04 | 383 | else |
skiley6 | 3:4b9d098dcb04 | 384 | { |
skiley6 | 3:4b9d098dcb04 | 385 | servoFR = newFront; |
skiley6 | 3:4b9d098dcb04 | 386 | servoRR = newRear; |
skiley6 | 3:4b9d098dcb04 | 387 | } |
skiley6 | 3:4b9d098dcb04 | 388 | |
skiley6 | 3:4b9d098dcb04 | 389 | servoFL = 0.5; //keep left side closed |
skiley6 | 3:4b9d098dcb04 | 390 | servoRL = 0.5; |
skiley6 | 3:4b9d098dcb04 | 391 | } |
skiley6 | 3:4b9d098dcb04 | 392 | else if(YawRate <= -10) // if turning Right |
skiley6 | 3:4b9d098dcb04 | 393 | { |
skiley6 | 3:4b9d098dcb04 | 394 | newFront = 1 - (0.5 + tempFront); // open up left flaps |
skiley6 | 4:8442a7d55f23 | 395 | newRear = 1 - (0.25 + tempRear); |
skiley6 | 3:4b9d098dcb04 | 396 | if(newFront < 0) |
skiley6 | 3:4b9d098dcb04 | 397 | { |
skiley6 | 3:4b9d098dcb04 | 398 | servoFL = 1 - 0; |
skiley6 | 3:4b9d098dcb04 | 399 | servoRL = 1 - 0.25; |
skiley6 | 3:4b9d098dcb04 | 400 | } |
skiley6 | 3:4b9d098dcb04 | 401 | else |
skiley6 | 3:4b9d098dcb04 | 402 | { |
skiley6 | 3:4b9d098dcb04 | 403 | servoFL = newFront; |
skiley6 | 3:4b9d098dcb04 | 404 | servoRL = newRear; |
skiley6 | 3:4b9d098dcb04 | 405 | } |
skiley6 | 3:4b9d098dcb04 | 406 | servoFR = 0.5; // keep right side closed |
skiley6 | 3:4b9d098dcb04 | 407 | servoRR = 0.5; |
skiley6 | 3:4b9d098dcb04 | 408 | } |
skiley6 | 3:4b9d098dcb04 | 409 | else |
skiley6 | 3:4b9d098dcb04 | 410 | { |
skiley6 | 3:4b9d098dcb04 | 411 | servoFR = 0.5; //set all to closed |
skiley6 | 3:4b9d098dcb04 | 412 | servoFL = 0.5; |
skiley6 | 3:4b9d098dcb04 | 413 | servoRR = 0.5; |
skiley6 | 3:4b9d098dcb04 | 414 | servoRL = 0.5; |
skiley6 | 3:4b9d098dcb04 | 415 | } |
skiley6 | 3:4b9d098dcb04 | 416 | Thread::wait(25); |
skiley6 | 3:4b9d098dcb04 | 417 | |
skiley6 | 3:4b9d098dcb04 | 418 | break; |
skiley6 | 3:4b9d098dcb04 | 419 | case Active_Roll: |
skiley6 | 4:8442a7d55f23 | 420 | tempFront = 0.0; |
skiley6 | 4:8442a7d55f23 | 421 | tempRear = 0.0; |
skiley6 | 4:8442a7d55f23 | 422 | newFront = 0.0; |
skiley6 | 4:8442a7d55f23 | 423 | newRear = 0.0; |
skiley6 | 4:8442a7d55f23 | 424 | |
skiley6 | 4:8442a7d55f23 | 425 | tempFront = roll/40; //divide to get into 0 -> 0.5 range for front wings |
skiley6 | 4:8442a7d55f23 | 426 | tempRear = roll/80; //divide to get into 0 -> 0.25 range for rear wings |
skiley6 | 4:8442a7d55f23 | 427 | |
skiley6 | 4:8442a7d55f23 | 428 | if(roll >= 1) //if rolling left |
skiley6 | 4:8442a7d55f23 | 429 | { |
skiley6 | 4:8442a7d55f23 | 430 | newFront = 0.5 - tempFront; // open up left flaps |
skiley6 | 4:8442a7d55f23 | 431 | newRear = 0.5 - tempRear; |
skiley6 | 4:8442a7d55f23 | 432 | if(newFront < 0) |
skiley6 | 4:8442a7d55f23 | 433 | { |
skiley6 | 4:8442a7d55f23 | 434 | servoFL = 1 - 0; |
skiley6 | 4:8442a7d55f23 | 435 | servoRL = 1 - 0.25; |
skiley6 | 4:8442a7d55f23 | 436 | } |
skiley6 | 4:8442a7d55f23 | 437 | else |
skiley6 | 4:8442a7d55f23 | 438 | { |
skiley6 | 4:8442a7d55f23 | 439 | servoFL = 1 - newFront; |
skiley6 | 4:8442a7d55f23 | 440 | servoRL = 1 - newRear; |
skiley6 | 4:8442a7d55f23 | 441 | } |
skiley6 | 4:8442a7d55f23 | 442 | servoFR = 0.5; // keep right side closed |
skiley6 | 4:8442a7d55f23 | 443 | servoRR = 0.5; |
skiley6 | 4:8442a7d55f23 | 444 | } |
skiley6 | 4:8442a7d55f23 | 445 | else if(roll <= -1) // if rolling right |
skiley6 | 4:8442a7d55f23 | 446 | { |
skiley6 | 4:8442a7d55f23 | 447 | newFront = 0.5 + tempFront; //open up right flaps |
skiley6 | 4:8442a7d55f23 | 448 | newRear = 0.5 + tempRear; |
skiley6 | 4:8442a7d55f23 | 449 | |
skiley6 | 4:8442a7d55f23 | 450 | if(newFront < 0) |
skiley6 | 4:8442a7d55f23 | 451 | { |
skiley6 | 4:8442a7d55f23 | 452 | servoFR = 0; |
skiley6 | 4:8442a7d55f23 | 453 | servoRR = 0.25; |
skiley6 | 4:8442a7d55f23 | 454 | } |
skiley6 | 4:8442a7d55f23 | 455 | else |
skiley6 | 4:8442a7d55f23 | 456 | { |
skiley6 | 4:8442a7d55f23 | 457 | servoFR = newFront; |
skiley6 | 4:8442a7d55f23 | 458 | servoRR = newRear; |
skiley6 | 4:8442a7d55f23 | 459 | } |
skiley6 | 4:8442a7d55f23 | 460 | |
skiley6 | 4:8442a7d55f23 | 461 | servoFL = 0.5; //keep left side closed |
skiley6 | 4:8442a7d55f23 | 462 | servoRL = 0.5; |
skiley6 | 4:8442a7d55f23 | 463 | } |
skiley6 | 4:8442a7d55f23 | 464 | else |
skiley6 | 4:8442a7d55f23 | 465 | { |
skiley6 | 4:8442a7d55f23 | 466 | servoFR = 0.5; //set all to closed |
skiley6 | 4:8442a7d55f23 | 467 | servoFL = 0.5; |
skiley6 | 4:8442a7d55f23 | 468 | servoRR = 0.5; |
skiley6 | 4:8442a7d55f23 | 469 | servoRL = 0.5; |
skiley6 | 4:8442a7d55f23 | 470 | } |
skiley6 | 4:8442a7d55f23 | 471 | Thread::wait(25); |
skiley6 | 3:4b9d098dcb04 | 472 | break; |
skiley6 | 3:4b9d098dcb04 | 473 | default: |
skiley6 | 4:8442a7d55f23 | 474 | break; |
skiley6 | 3:4b9d098dcb04 | 475 | } |
cheryldocherty | 0:04fef978a0ab | 476 | } |
cheryldocherty | 0:04fef978a0ab | 477 | } |
cheryldocherty | 0:04fef978a0ab | 478 | |
abir77935 | 1:8e8aac99a366 | 479 | |
cheryldocherty | 0:04fef978a0ab | 480 | |
cheryldocherty | 0:04fef978a0ab | 481 | int main() { |
skiley6 | 3:4b9d098dcb04 | 482 | |
cheryldocherty | 0:04fef978a0ab | 483 | // initialise IMU |
cheryldocherty | 0:04fef978a0ab | 484 | IMU.begin(); |
cheryldocherty | 0:04fef978a0ab | 485 | if (!IMU.begin()) { |
cheryldocherty | 0:04fef978a0ab | 486 | pc.printf("Failed to communicate with LSM9DS1.\n"); |
cheryldocherty | 0:04fef978a0ab | 487 | } |
skiley6 | 3:4b9d098dcb04 | 488 | //IMU.calibrate(1); |
skiley6 | 3:4b9d098dcb04 | 489 | //IMU.calibrateMag(0); |
cheryldocherty | 0:04fef978a0ab | 490 | |
abir77935 | 1:8e8aac99a366 | 491 | blue.baud(9600); //set baud rate for UART window |
skiley6 | 3:4b9d098dcb04 | 492 | |
skiley6 | 3:4b9d098dcb04 | 493 | blueRXThread.start(blueRX); |
skiley6 | 3:4b9d098dcb04 | 494 | blueTXThread.start(blueTX); |
skiley6 | 4:8442a7d55f23 | 495 | sensorThread.start(getSensorData); |
skiley6 | 3:4b9d098dcb04 | 496 | servoThread.start(setServos); |
skiley6 | 3:4b9d098dcb04 | 497 | |
cheryldocherty | 0:04fef978a0ab | 498 | while(1) { |
skiley6 | 3:4b9d098dcb04 | 499 | |
cheryldocherty | 0:04fef978a0ab | 500 | } |
cheryldocherty | 0:04fef978a0ab | 501 | } |