Ryan Smith / Mbed 2 deprecated Quad Rotor Control

This controls Quadrotor ESC

Dependencies:   mbed

Quad Rotor control with mbed

Here is a video of it flying while being held down /media/uploads/Ryan/img_0735.mov

List of Parts

Q450 Glass Fiber Quadcopter Frame 450mm - Integrated PCB Version
HobbyKing ECO6 50W 5A Balancer/Charger w/ accessories
Turnigy dlux 20A SBEC Brushless Speed Controller w/Data Logging (2s4s)
Turnigy 3300mAh 3S 30C Lipo Pack "I changed this to a 2,200mAh 4S battery"
NTM Prop Drive Series 28-26A 1200kv / 250w

Specs

Stable flight is some where around 0.00139ms pulseWidth and it pulls 14.7amps so 2,200/1000/14.7*60= about 8.97 of flight time.

main.cpp@0:fe6280c7a52f, 2012-08-17 (annotated)

Committer:
Ryan
Date:
Fri Aug 17 14:18:42 2012 +0000
Revision:
0:fe6280c7a52f
Finished

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ryan 0:fe6280c7a52f 1 #include "mbed.h"
Ryan 0:fe6280c7a52f 2 #include "stdio.h"
Ryan 0:fe6280c7a52f 3 #include "stdlib.h"
Ryan 0:fe6280c7a52f 4 #include "string"
Ryan 0:fe6280c7a52f 5 AnalogIn Volts(p20);
Ryan 0:fe6280c7a52f 6 PwmOut BLDCM1(p21);
Ryan 0:fe6280c7a52f 7 PwmOut BLDCM2(p22);
Ryan 0:fe6280c7a52f 8 PwmOut BLDCM3(p23);
Ryan 0:fe6280c7a52f 9 PwmOut BLDCM4(p24);
Ryan 0:fe6280c7a52f 10 Serial pc(USBTX, USBRX);
Ryan 0:fe6280c7a52f 11
Ryan 0:fe6280c7a52f 12 //red right p21
Ryan 0:fe6280c7a52f 13 //blue right p22
Ryan 0:fe6280c7a52f 14 //white left p23
Ryan 0:fe6280c7a52f 15 //red left p24
Ryan 0:fe6280c7a52f 16
Ryan 0:fe6280c7a52f 17 // -----------> Make SURE!! each ESC is grounded on mbeds ground!!!!!!!!!! <------------
Ryan 0:fe6280c7a52f 18
Ryan 0:fe6280c7a52f 19
Ryan 0:fe6280c7a52f 20 float val;
Ryan 0:fe6280c7a52f 21
Ryan 0:fe6280c7a52f 22 int main() {
Ryan 0:fe6280c7a52f 23 val =0.001;
Ryan 0:fe6280c7a52f 24 // Most ESC take standard servo commands so that is a 50hz signal and listens between 1ms and 3ms pulsewidth
Ryan 0:fe6280c7a52f 25 BLDCM1.period_ms(20);
Ryan 0:fe6280c7a52f 26 BLDCM2.period_ms(20);
Ryan 0:fe6280c7a52f 27 BLDCM3.period_ms(20);
Ryan 0:fe6280c7a52f 28 BLDCM4.period_ms(20);
Ryan 0:fe6280c7a52f 29 ////////////////////////////////
Ryan 0:fe6280c7a52f 30 while (1) {
Ryan 0:fe6280c7a52f 31
Ryan 0:fe6280c7a52f 32
Ryan 0:fe6280c7a52f 33 //Initailize motors
Ryan 0:fe6280c7a52f 34
Ryan 0:fe6280c7a52f 35 if(pc.readable()){
Ryan 0:fe6280c7a52f 36 switch (pc.getc()) {
Ryan 0:fe6280c7a52f 37 case 'u':
Ryan 0:fe6280c7a52f 38 val += 0.00005;
Ryan 0:fe6280c7a52f 39 break;
Ryan 0:fe6280c7a52f 40 case 'd':
Ryan 0:fe6280c7a52f 41 val -= 0.00005;
Ryan 0:fe6280c7a52f 42 break;
Ryan 0:fe6280c7a52f 43 case 'w':
Ryan 0:fe6280c7a52f 44 val += 0.00001;
Ryan 0:fe6280c7a52f 45 break;
Ryan 0:fe6280c7a52f 46 case 'x':
Ryan 0:fe6280c7a52f 47 val -= 0.00001;
Ryan 0:fe6280c7a52f 48 break;
Ryan 0:fe6280c7a52f 49 case 's':
Ryan 0:fe6280c7a52f 50 val = 0.001;
Ryan 0:fe6280c7a52f 51 break;
Ryan 0:fe6280c7a52f 52 case 'm':
Ryan 0:fe6280c7a52f 53 val = 0.0018;
Ryan 0:fe6280c7a52f 54 break;
Ryan 0:fe6280c7a52f 55 }
Ryan 0:fe6280c7a52f 56 }
Ryan 0:fe6280c7a52f 57
Ryan 0:fe6280c7a52f 58 BLDCM1.pulsewidth(val);
Ryan 0:fe6280c7a52f 59 BLDCM2.pulsewidth(val);
Ryan 0:fe6280c7a52f 60 BLDCM3.pulsewidth(val);
Ryan 0:fe6280c7a52f 61 BLDCM4.pulsewidth(val);
Ryan 0:fe6280c7a52f 62 wait(0.25);
Ryan 0:fe6280c7a52f 63 pc.printf("Volts (%f) Pulsewidth (%f) RPM (%f) \n",(((val*1000)*12)),(val),(((val*1000)*1200)));
Ryan 0:fe6280c7a52f 64
Ryan 0:fe6280c7a52f 65 }
Ryan 0:fe6280c7a52f 66 }