Andrew Wood / Mbed 2 deprecated ThrusterTest2019

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Dependencies:   PwmIn mbed Servo

main.cpp@1:1d2b72d09c56, 2019-05-27 (annotated)

Committer:
WoodyERAU
Date:
Mon May 27 21:56:20 2019 +0000
Revision:
1:1d2b72d09c56
Parent:
0:4fb155dd1c7a
Child:
2:cc7237f357e4
Controller works for LEDs. Controlling thrusters and servos in progress.

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 1:1d2b72d09c56 6 Servo left_servo(p23);
WoodyERAU 1:1d2b72d09c56 7 Servo right_servo(p24);
WoodyERAU 1:1d2b72d09c56 8
WoodyERAU 1:1d2b72d09c56 9 //Pins for Thruster Power
WoodyERAU 1:1d2b72d09c56 10 PwmOut Front(p25);
WoodyERAU 1:1d2b72d09c56 11 PwmOut Back(p26);
WoodyERAU 1:1d2b72d09c56 12
WoodyERAU 1:1d2b72d09c56 13 //Initialize LEDs
WoodyERAU 1:1d2b72d09c56 14 PwmOut led1(LED1);
WoodyERAU 1:1d2b72d09c56 15 PwmOut led2(LED2);
WoodyERAU 1:1d2b72d09c56 16 PwmOut led3(LED3);
WoodyERAU 1:1d2b72d09c56 17 PwmOut led4(LED4);
WoodyERAU 1:1d2b72d09c56 18
WoodyERAU 1:1d2b72d09c56 19 //Initialize receiver pins
WoodyERAU 1:1d2b72d09c56 20 PwmIn thro(p17);
WoodyERAU 1:1d2b72d09c56 21 PwmIn elev(p15);
WoodyERAU 1:1d2b72d09c56 22 PwmIn gear(p13);
WoodyERAU 1:1d2b72d09c56 23 PwmIn aile(p14);
WoodyERAU 1:1d2b72d09c56 24 PwmIn rudd(p16);
WoodyERAU 1:1d2b72d09c56 25
WoodyERAU 1:1d2b72d09c56 26 //Set all PWM values to a defaalt of 0
WoodyERAU 1:1d2b72d09c56 27 float throttle_output = 0.0;
WoodyERAU 1:1d2b72d09c56 28 float elevation_output = 0.0;
WoodyERAU 1:1d2b72d09c56 29 float ESTOP_output = 0.0;
WoodyERAU 1:1d2b72d09c56 30 float rudder_output = 0.0;
WoodyERAU 1:1d2b72d09c56 31 float aileron_output = 0.0;
WoodyERAU 0:4fb155dd1c7a 32
WoodyERAU 0:4fb155dd1c7a 33
WoodyERAU 1:1d2b72d09c56 34 int main() {
WoodyERAU 1:1d2b72d09c56 35
WoodyERAU 1:1d2b72d09c56 36 //Calibration Sequence
WoodyERAU 1:1d2b72d09c56 37 left_servo = 0.0;
WoodyERAU 1:1d2b72d09c56 38 right_servo = 0.0;
WoodyERAU 1:1d2b72d09c56 39 led1 = led2 = led3 = led4 = 1;
WoodyERAU 1:1d2b72d09c56 40 wait(0.5); //ESC detects signal
WoodyERAU 1:1d2b72d09c56 41 //Required ESC Calibration/Arming sequence
WoodyERAU 1:1d2b72d09c56 42 //sends longest and shortest PWM pulse to learn and arm at power on
WoodyERAU 1:1d2b72d09c56 43 left_servo = 1.0; //send longest PWM
WoodyERAU 1:1d2b72d09c56 44 right_servo = 1.0;
WoodyERAU 1:1d2b72d09c56 45 led1 = led2 = led3 = led4 = 0;
WoodyERAU 1:1d2b72d09c56 46 wait(1);
WoodyERAU 1:1d2b72d09c56 47 right_servo = 0.0;
WoodyERAU 1:1d2b72d09c56 48 wait(1);
WoodyERAU 1:1d2b72d09c56 49 //End calibration sequence
WoodyERAU 1:1d2b72d09c56 50
WoodyERAU 1:1d2b72d09c56 51 while(1) {
WoodyERAU 1:1d2b72d09c56 52 /*The progam has to switch from autonomous control and receiver
WoodyERAU 1:1d2b72d09c56 53 control based of the 'gear_output' value
WoodyERAU 1:1d2b72d09c56 54 */
WoodyERAU 1:1d2b72d09c56 55
WoodyERAU 1:1d2b72d09c56 56 //Read in all PWM signals and set them to a value between 0 and 1
WoodyERAU 1:1d2b72d09c56 57 elevation_output = (elev.pulsewidth()*1000)-1.2;
WoodyERAU 1:1d2b72d09c56 58 throttle_output = (thro.pulsewidth()*1000)-1.2;
WoodyERAU 1:1d2b72d09c56 59 rudder_output = (rudd.pulsewidth()*1000)-1.2;
WoodyERAU 1:1d2b72d09c56 60 aileron_output = (aile.pulsewidth()*1000)-1.2;
WoodyERAU 1:1d2b72d09c56 61
WoodyERAU 1:1d2b72d09c56 62 //ESTOP PWM
WoodyERAU 1:1d2b72d09c56 63 ESTOP_output = (gear.pulsewidth()*1000)-1; // >.5 run... <.5 STOP
WoodyERAU 1:1d2b72d09c56 64
WoodyERAU 1:1d2b72d09c56 65
WoodyERAU 1:1d2b72d09c56 66 if(ESTOP_output > 0.5)
WoodyERAU 1:1d2b72d09c56 67 {
WoodyERAU 1:1d2b72d09c56 68 led1 = throttle_output;
WoodyERAU 1:1d2b72d09c56 69 led2 = aileron_output;
WoodyERAU 1:1d2b72d09c56 70 led3 = elevation_output;
WoodyERAU 1:1d2b72d09c56 71 led4 = rudder_output;
WoodyERAU 1:1d2b72d09c56 72 }
WoodyERAU 1:1d2b72d09c56 73 else
WoodyERAU 1:1d2b72d09c56 74 {
WoodyERAU 1:1d2b72d09c56 75 led1 = led2 = led3 = led4 = 0;
WoodyERAU 1:1d2b72d09c56 76 }
WoodyERAU 1:1d2b72d09c56 77
WoodyERAU 1:1d2b72d09c56 78
WoodyERAU 1:1d2b72d09c56 79 }
WoodyERAU 1:1d2b72d09c56 80 }
WoodyERAU 1:1d2b72d09c56 81