Revision 1:4b4d5d18fc57, committed 2019-03-14

Comitter:

LukeMar

Date:

Thu Mar 14 22:09:48 2019 +0000

Parent:

0:f4edd3407cc5

Commit message:

3/14/19

Changed in this revision

diff -r f4edd3407cc5 -r 4b4d5d18fc57 main.cpp
--- a/main.cpp	Thu Jan 17 00:28:07 2019 +0000
+++ b/main.cpp	Thu Mar 14 22:09:48 2019 +0000
@@ -28,7 +28,7 @@
 int j;
 float now;
 //***Mast universal variables***
-AnalogIn   ain(p16);
+AnalogIn   ain(p20);
 PwmOut  motor( p25 );
 DigitalOut   dir( p24 );
 DigitalOut    I(p26);
@@ -46,9 +46,11 @@
 float r_pos;
 float RC_1;
 
-float xx = 4.0; //changes the threshold that the motor goes to sleep on
-float zz = 88; //changes the wait time at end of the the mast rudder threads
-float ww = 10; //changes wait time at end of if statments in mast rudder threads
+float xx = 5.5; //changes the threshold that the motor goes to sleep on
+float gg = 9.5; //changes the threshold that the motor goes to sleep on for mast
+float zz = 121; //changes wait at end of rc thread
+float ww = 5; //changes wait time at end of if statments in mast rudder threads
+int ff = 65;//changes wait at end of telemetry
 //****universal variables for Telemetry****
 DigitalOut heartbeat(LED1);
 Serial * gps_Serial;
@@ -57,6 +59,8 @@
 float info; //a multiuse variable used for sending things over GPS
 Timer refresh_Timer; //sets up a timer for use in loop; how often do we print GPS info?
 const int refresh_Time = 2000; //refresh time in ms
+       //wait time between pieces of telemetry info
+
 
 union Float {       //slightly mysterious data type that we use to send data over serial
     float    m_float;
@@ -78,7 +82,18 @@
     myFloat.m_float = data;
     data = myFloat.m_float;   // get the float back from the union
     pc.printf("%.1f", data);
-    Thread::wait(35);
+    Thread::wait(ff);
+
+}
+
+void roll_read()
+{
+    bno.get_angles();
+    data = bno.euler.roll;
+    myFloat.m_float = data;
+    data = myFloat.m_float;   // get the float back from the union
+    pc.printf("%.1f", data);
+    Thread::wait(ff);
 
 }
 
@@ -119,8 +134,8 @@
 int main()
 {
     //start all threads
-    wait(10);
-    //telemetry_thread.start(callback(telemetry_callback));
+    wait(1);
+    telemetry_thread.start(callback(telemetry_callback));
     mast_thread.start(callback(mast_callback));
     rudder_thread.start(callback(rudder_callback));
     //could have a heart beat but I tried to reduce the number of threads fighting for time
@@ -131,12 +146,12 @@
     float p1;
     float p2;
     float p3;
-    p1 = (ain-.108)/.002466;
+    p1 = ain*449.0-147.53;  //ain*447.73-147.53;
     Thread::wait(3);
-    p2 = (ain-.108)/.002466;
+    p2 = ain*447.73-147.53;
     Thread::wait(3);
-    p3 = (ain-.108)/.002466;
-    printf("%f\n",ain);
+    p3 = ain*447.73-147.53;
+    
     return (p1+p2+p3)/3.0;
 }
 float posr()
@@ -157,7 +172,7 @@
     //uint64_t now;
     //debug("telemetry_thread started\r\n");
 
-    pc.baud(115200); //sets virtual COM serial communication to high rate; this is to allow more time to be spent on GPS retrieval
+    
     gps_Serial = new Serial(p9,p10); //serial object for use w/ GPS
     Adafruit_GPS myGPS(gps_Serial); //object of Adafruit's GPS class
 
@@ -171,7 +186,7 @@
     //pc.printf("Connection established at 115200 baud...\n");
     bno_init();
 
-    Thread::wait(1000);
+    Thread::wait(100);
     refresh_Timer.start();  //starts the clock on the timer
 
     while(true) {
@@ -186,13 +201,13 @@
 
             if (refresh_Timer.read_ms() >= refresh_Time) {
                 refresh_Timer.reset();
-            
-                data = conc(myGPS.hour, myGPS.minute, myGPS.seconds );               // conc(myGPS.hour, myGPS.minute, myGPS.seconds );
+
+               /* data = conc(myGPS.hour, myGPS.minute, myGPS.seconds );               // conc(myGPS.hour, myGPS.minute, myGPS.seconds );
                 myFloat.m_float = data;
                 data = myFloat.m_float;   // get the float back from the union
                 pc.printf("%2.0f", data);
-                Thread::wait(35);
-                /*  this part can send hr min second separately, commented to save thread space
+                Thread::wait(ff);*/
+                //  this part can send hr min second separately, commented to save thread space
                 data = myGPS.hour;               // conc(myGPS.hour, myGPS.minute, myGPS.seconds );
                 myFloat.m_float = data;
                 data = myFloat.m_float;   // get the float back from the union
@@ -210,38 +225,39 @@
                 data = myFloat.m_float;   // get the float back from the union
                 pc.printf("%2.0f", data);
                 Thread::wait(35);
-                */
+                
                 if (myGPS.fix) {
                     //rudder and mast position will log here
                     //send mast angle
-                    data = posi();
+                   /* data = posi();
                     myFloat.m_float = data;
                     data = myFloat.m_float;   // get the float back from the union
                     pc.printf("%.1f", data);
-                    Thread::wait(35);
+                    Thread::wait(ff);
                     //send rudder angle
                     data = posr();
                     myFloat.m_float = data;
                     data = myFloat.m_float;   // get the float back from the union
                     pc.printf("%.1f", data);
-                    Thread::wait(35);
+                    Thread::wait(ff);*/
                     //send latitude
                     data = myGPS.latitude;
                     myFloat.m_float = data;
                     data = myFloat.m_float;   // get the float back from the union
-                    pc.printf("%.2f", data);
-                    Thread::wait(35);
+                    pc.printf("%.3f", data);
+                    Thread::wait(ff);
                     //send logitude
                     data = myGPS.longitude;
                     myFloat.m_float = data;
                     data = myFloat.m_float;   // get the float back from the union
-                    pc.printf("%.2f", data);
-                    Thread::wait(35);
+                    pc.printf("%.3f", data);
+                    Thread::wait(ff);
                     //send yaw
                     yaw_read();
+                    roll_read();
                     //send transmittion
                     pc.printf("q");
-                    Thread::wait(3000);
+                    Thread::wait(1000);
                 }//if (myGPS.fix)
             }//if (refresh_Timer..
         }//if ( myGPS.newNMEAreceived() )
@@ -253,13 +269,13 @@
 
     I=0; //sets for 1.5amp output
     motor.period(.001); //sets the pulse width modulation period
-    motor.pulsewidth(0); 
+    motor.pulsewidth(0);
     slp = 0;
     r_slp = 0; //sstarts the current driver in off state
     Thread::wait(10);
     // loop
     while(1) {
-        
+
         if (rx.valid) {
             RC_O = rx.channel[0];
         } else {
@@ -267,28 +283,28 @@
             slp = 0;
         }
         //39.19
-        d_ang = (RC_O/6.77)+39.19;
-        pos = (ain-.108)/.002466;
-        printf("%f\n",ain);
-        if((pos > (d_ang-xx))&& (pos < (d_ang+xx))) {
+        d_ang = (RC_O/6.77)-10.0;      //(RC_O/6.77)+39.19;
+        pos = posi();
+        //printf("%f\n",ain);
+        if((pos > (d_ang-gg))&& (pos < (d_ang+gg))) {
             motor.pulsewidth(0);
             slp = 0;
         }
-        if( (pos > (d_ang+xx))) {
+        if( (pos > (d_ang+gg))) {
             slp = 1;
-                dir = 1; //left??
-                motor.pulsewidth(.0005);
-                //pc.printf("pos: %.3f\n",pos);
-                Thread::wait(ww);
-                pos = posi();
+            dir = 1; //left??
+            motor.pulsewidth(.0005);
+            //pc.printf("pos: %.3f\n",pos);
+            Thread::wait(ww);
+            pos = posi();
         }//if pos
-        if((pos < (d_ang-xx))) {
+        if((pos < (d_ang-gg))) {
             slp = 1;
-                dir = 0; //right??
-                motor.pulsewidth(.0005);
-                //pc.printf("pos: %.3f\n",pos);
-                Thread::wait(ww);
-                pos = posi();
+            dir = 0; //right??
+            motor.pulsewidth(.0005);
+            //pc.printf("pos: %.3f\n",pos);
+            Thread::wait(ww);
+            pos = posi();
         }
         ThisThread::sleep_until(zz);
     }//while(1)
@@ -299,14 +315,14 @@
 
     r_I=0; //sets for 1.5amp output
     rudder.period(.001); //sets the pulse width modulation period
-    rudder.pulsewidth(0); 
+    rudder.pulsewidth(0);
     slp = 0;
     r_slp = 0; //sstarts the current driver in off state
     Thread::wait(10);
-    
+
     // loop
     while(1) {
-        
+
         if (rx.valid) {
             RC_1 = rx.channel[1];
         } else {
@@ -315,7 +331,7 @@
         }
         //39.19
         r_ang = (RC_1/6.77)-5.0;
-        r_pos = (r_ain-.108)/.002466;
+        r_pos = posr();
 
         if((r_pos > (r_ang-xx)) && (r_pos < (r_ang+xx))) {
             rudder.pulsewidth(0);
@@ -323,17 +339,17 @@
         }
         if( (r_pos > (r_ang+xx)) ) {  //&& r_pos < 235.0
             r_slp = 1;
-                r_dir = 1; //left??
-                rudder.pulsewidth(.0005);
-                Thread::wait(ww);
-                r_pos = posr();
+            r_dir = 1; //left??
+            rudder.pulsewidth(.0005);
+            Thread::wait(ww);
+            r_pos = posr();
         }//if pos
         if((r_pos < (r_ang-xx)) ) {   // && r_pos > 55.0
             r_slp = 1;
-                r_dir = 0; //right??
-                rudder.pulsewidth(.0005);
-                Thread::wait(ww);
-                r_pos = posr();
+            r_dir = 0; //right??
+            rudder.pulsewidth(.0005);
+            Thread::wait(ww);
+            r_pos = posr();
         }
         ThisThread::sleep_until(zz);
     }//while(1)