Andrew Wood / Mbed 2 deprecated ThrusterTest2019

Working Thruster and Servo RC

Dependencies:   PwmIn mbed Servo

main.cpp@3:64b5ea1e088f, 2019-06-05 (annotated)

Committer:
WoodyERAU
Date:
Wed Jun 05 16:28:00 2019 +0000
Revision:
3:64b5ea1e088f
Parent:
2:cc7237f357e4
Child:
4:e02ad2d9ba69
Working RC Program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WoodyERAU 0:4fb155dd1c7a 1 #include "mbed.h"
WoodyERAU 1:1d2b72d09c56 2 #include "Servo.h"
WoodyERAU 1:1d2b72d09c56 3 #include "PwmIn.h"
WoodyERAU 1:1d2b72d09c56 4
WoodyERAU 1:1d2b72d09c56 5 //Initialize left and right servos
WoodyERAU 2:cc7237f357e4 6 Servo back_servo(p23);
WoodyERAU 2:cc7237f357e4 7 Servo front_servo(p24);
WoodyERAU 2:cc7237f357e4 8
WoodyERAU 2:cc7237f357e4 9
WoodyERAU 1:1d2b72d09c56 10
WoodyERAU 1:1d2b72d09c56 11 //Pins for Thruster Power
WoodyERAU 2:cc7237f357e4 12 Servo front_thrust(p25);
WoodyERAU 2:cc7237f357e4 13 Servo back_thrust(p26);
WoodyERAU 1:1d2b72d09c56 14
WoodyERAU 1:1d2b72d09c56 15
WoodyERAU 1:1d2b72d09c56 16 //Initialize receiver pins
WoodyERAU 1:1d2b72d09c56 17 PwmIn thro(p17);
WoodyERAU 1:1d2b72d09c56 18 PwmIn elev(p15);
WoodyERAU 1:1d2b72d09c56 19 PwmIn gear(p13);
WoodyERAU 1:1d2b72d09c56 20 PwmIn aile(p14);
WoodyERAU 1:1d2b72d09c56 21 PwmIn rudd(p16);
WoodyERAU 1:1d2b72d09c56 22
WoodyERAU 1:1d2b72d09c56 23 //Set all PWM values to a defaalt of 0
WoodyERAU 1:1d2b72d09c56 24 float throttle_output = 0.0;
WoodyERAU 1:1d2b72d09c56 25 float elevation_output = 0.0;
WoodyERAU 1:1d2b72d09c56 26 float ESTOP_output = 0.0;
WoodyERAU 1:1d2b72d09c56 27 float rudder_output = 0.0;
WoodyERAU 1:1d2b72d09c56 28 float aileron_output = 0.0;
WoodyERAU 0:4fb155dd1c7a 29
WoodyERAU 0:4fb155dd1c7a 30
WoodyERAU 1:1d2b72d09c56 31 int main() {
WoodyERAU 1:1d2b72d09c56 32
WoodyERAU 1:1d2b72d09c56 33 //Calibration Sequence
WoodyERAU 2:cc7237f357e4 34 back_servo = 0.0;
WoodyERAU 2:cc7237f357e4 35 front_servo = 0.0;
WoodyERAU 2:cc7237f357e4 36 back_thrust = 0.0;
WoodyERAU 2:cc7237f357e4 37 front_thrust = 0.0;
WoodyERAU 1:1d2b72d09c56 38 wait(0.5); //ESC detects signal
WoodyERAU 1:1d2b72d09c56 39 //Required ESC Calibration/Arming sequence
WoodyERAU 1:1d2b72d09c56 40 //sends longest and shortest PWM pulse to learn and arm at power on
WoodyERAU 2:cc7237f357e4 41 back_servo = 1.0;
WoodyERAU 2:cc7237f357e4 42 front_servo = 1.0;
WoodyERAU 2:cc7237f357e4 43 back_thrust = 1.0;
WoodyERAU 2:cc7237f357e4 44 front_thrust = 1.0;
WoodyERAU 3:64b5ea1e088f 45 wait(0.1);
WoodyERAU 2:cc7237f357e4 46 back_servo = 0.0;
WoodyERAU 2:cc7237f357e4 47 front_servo = 0.0;
WoodyERAU 2:cc7237f357e4 48 back_thrust = 0.0;
WoodyERAU 2:cc7237f357e4 49 front_thrust = 0.0;
WoodyERAU 2:cc7237f357e4 50 wait(0.5);
WoodyERAU 1:1d2b72d09c56 51 //End calibration sequence
WoodyERAU 1:1d2b72d09c56 52
WoodyERAU 2:cc7237f357e4 53
WoodyERAU 1:1d2b72d09c56 54 while(1) {
WoodyERAU 2:cc7237f357e4 55
WoodyERAU 2:cc7237f357e4 56 //Enable Servo to turn 180 degrees
WoodyERAU 2:cc7237f357e4 57 back_servo.calibrate(0.00085,90.0);
WoodyERAU 2:cc7237f357e4 58 front_servo.calibrate(0.00085,90.0);
WoodyERAU 2:cc7237f357e4 59
WoodyERAU 1:1d2b72d09c56 60
WoodyERAU 1:1d2b72d09c56 61 //Read in all PWM signals and set them to a value between 0 and 1
WoodyERAU 2:cc7237f357e4 62 elevation_output = (elev.pulsewidth()*1000)-1;
WoodyERAU 2:cc7237f357e4 63 throttle_output = (thro.pulsewidth()*1000)-1;
WoodyERAU 2:cc7237f357e4 64 rudder_output = (rudd.pulsewidth()*1000)-1;
WoodyERAU 2:cc7237f357e4 65 aileron_output = (aile.pulsewidth()*1000)-1;
WoodyERAU 1:1d2b72d09c56 66
WoodyERAU 1:1d2b72d09c56 67 //ESTOP PWM
WoodyERAU 1:1d2b72d09c56 68 ESTOP_output = (gear.pulsewidth()*1000)-1; // >.5 run... <.5 STOP
WoodyERAU 1:1d2b72d09c56 69
WoodyERAU 1:1d2b72d09c56 70
WoodyERAU 1:1d2b72d09c56 71 if(ESTOP_output > 0.5)
WoodyERAU 2:cc7237f357e4 72 {
WoodyERAU 2:cc7237f357e4 73
WoodyERAU 2:cc7237f357e4 74 //Servo Controllers
WoodyERAU 2:cc7237f357e4 75 back_servo = aileron_output;
WoodyERAU 2:cc7237f357e4 76 front_servo = rudder_output;
WoodyERAU 2:cc7237f357e4 77
WoodyERAU 2:cc7237f357e4 78 //Thrust Controllers
WoodyERAU 2:cc7237f357e4 79 back_thrust = throttle_output - 0.04;
WoodyERAU 2:cc7237f357e4 80 front_thrust = elevation_output - 0.04;
WoodyERAU 1:1d2b72d09c56 81 }
WoodyERAU 1:1d2b72d09c56 82 else
WoodyERAU 1:1d2b72d09c56 83 {
WoodyERAU 2:cc7237f357e4 84 front_thrust = 0.46;
WoodyERAU 2:cc7237f357e4 85 back_thrust = 0.46;
WoodyERAU 1:1d2b72d09c56 86 }
WoodyERAU 1:1d2b72d09c56 87
WoodyERAU 2:cc7237f357e4 88 wait(0.1);
WoodyERAU 2:cc7237f357e4 89
WoodyERAU 2:cc7237f357e4 90 printf("\t\t:PWM: %4.2f\t", elevation_output);
WoodyERAU 2:cc7237f357e4 91 printf(" \r\n");
WoodyERAU 1:1d2b72d09c56 92 }
WoodyERAU 1:1d2b72d09c56 93 }
WoodyERAU 1:1d2b72d09c56 94