aurora moon / Mbed 2 deprecated send_copy

1223

Dependencies:   BufferedSerial SoftPWM mbed send

Fork of nRF24L01P_Hello_World by YX ZHANG

main.cpp@4:876bfa91934c, 2017-11-08 (annotated)

Committer:
accelerator225
Date:
Wed Nov 08 06:24:17 2017 +0000
Revision:
4:876bfa91934c
Parent:
3:61afd8d17063 
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Owen 0:a51a6e7da590 1 #include "mbed.h"
Owen 0:a51a6e7da590 2 #include "nRF24L01P.h"
accelerator225 4:876bfa91934c 3 #include "SoftPWM.h"
accelerator225 4:876bfa91934c 4 #define JY901transfersize 11
accelerator225 4:876bfa91934c 5 #define TRANSFER_SIZE 11
accelerator225 4:876bfa91934c 6 #include"JY901.h"
accelerator225 4:876bfa91934c 7 #define pwm_period 1
accelerator225 4:876bfa91934c 8 int flagg = 0;
Owen 0:a51a6e7da590 9
accelerator225 4:876bfa91934c 10 char targetdata[3];
accelerator225 4:876bfa91934c 11 char receivedata[4];
accelerator225 4:876bfa91934c 12 float change[4];
accelerator225 4:876bfa91934c 13 int receivedatacnt = 0;
accelerator225 4:876bfa91934c 14 SoftPWM PWM1(PA_2),PWM2(PA_3),PWM3(PA_6),PWM4(PA_7),PWM5(PB_0),PWM6(PB_1);
Owen 0:a51a6e7da590 15
accelerator225 4:876bfa91934c 16 int rollx=0,rolly=0,rollz=0,drx,dry,drz,ax,ay,az;
accelerator225 4:876bfa91934c 17 float kp,ki,kd;
accelerator225 4:876bfa91934c 18 void pwm_init()
accelerator225 4:876bfa91934c 19 {
accelerator225 4:876bfa91934c 20 PWM1.period_ms(pwm_period);
accelerator225 4:876bfa91934c 21 PWM2.period_ms(pwm_period);
accelerator225 4:876bfa91934c 22 PWM3.period_ms(pwm_period);
accelerator225 4:876bfa91934c 23 PWM4.period_ms(pwm_period);
accelerator225 4:876bfa91934c 24 PWM5.period_ms(pwm_period);
accelerator225 4:876bfa91934c 25 PWM6.period_ms(pwm_period);
accelerator225 4:876bfa91934c 26 PWM1=0.0;PWM2=0.0;PWM3=0.0;PWM4=0.0;PWM5=0.0;PWM6=0.0;
accelerator225 4:876bfa91934c 27 }
Owen 0:a51a6e7da590 28
accelerator225 4:876bfa91934c 29 JY901 _JY901(PA_9,PA_10);
accelerator225 4:876bfa91934c 30 //nRF24L01P my_nrf24l01p(PB_15, PB_14, PB_13, PC_1, PC_2, PC_0);
accelerator225 4:876bfa91934c 31 char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE];
accelerator225 4:876bfa91934c 32 int JY901cnt = 0;
Owen 0:a51a6e7da590 33 int txDataCnt = 0;
Owen 0:a51a6e7da590 34 int rxDataCnt = 0;
accelerator225 4:876bfa91934c 35 void transferdata(){
accelerator225 4:876bfa91934c 36 _JY901.receiveData();
accelerator225 4:876bfa91934c 37 float acc[3];
accelerator225 4:876bfa91934c 38 _JY901.getAttitude(acc[0], acc[1], acc[2]);
accelerator225 4:876bfa91934c 39 PWM1=0.2;//0.13+0.13*(float)rollx/32767.0;
accelerator225 4:876bfa91934c 40 PWM2=0.4;//0.13-0.13*(float)rolly/32767.0;
accelerator225 4:876bfa91934c 41 PWM3=0.1-0.1*acc[0]/180;
accelerator225 4:876bfa91934c 42 }
Owen 0:a51a6e7da590 43
accelerator225 4:876bfa91934c 44 int PIDcontrol(char *targetdata,char *data,float *change){
accelerator225 4:876bfa91934c 45 return 1;
accelerator225 4:876bfa91934c 46 }
Owen 0:a51a6e7da590 47
accelerator225 4:876bfa91934c 48 void update_roll()
accelerator225 4:876bfa91934c 49 {
accelerator225 4:876bfa91934c 50 // char *s;
accelerator225 4:876bfa91934c 51 /*char data[JY901transfersize];
accelerator225 4:876bfa91934c 52 char flag =0,flag2 = 0;
accelerator225 4:876bfa91934c 53 int q=1;
accelerator225 4:876bfa91934c 54 while(q < 1000){
accelerator225 4:876bfa91934c 55 q++;
accelerator225 4:876bfa91934c 56 switch(flag){
accelerator225 4:876bfa91934c 57 case 0:
accelerator225 4:876bfa91934c 58 flag2=JY901.getc();
accelerator225 4:876bfa91934c 59 if(flag2==0x55) flag++;
accelerator225 4:876bfa91934c 60 break;
accelerator225 4:876bfa91934c 61 case 1:
accelerator225 4:876bfa91934c 62 flag2=JY901.getc();
accelerator225 4:876bfa91934c 63 if(flag2 == 0x53){
accelerator225 4:876bfa91934c 64 flag++;
accelerator225 4:876bfa91934c 65 data[0] = 0x55;
accelerator225 4:876bfa91934c 66 data[1] = flag2;
accelerator225 4:876bfa91934c 67 }
accelerator225 4:876bfa91934c 68 else flag--;
accelerator225 4:876bfa91934c 69 break;
accelerator225 4:876bfa91934c 70 case 2:
accelerator225 4:876bfa91934c 71 for(int i = 2;i != JY901transfersize;i++)
accelerator225 4:876bfa91934c 72 data[i] = JY901.getc();
accelerator225 4:876bfa91934c 73 q = 1001;
accelerator225 4:876bfa91934c 74 break;
accelerator225 4:876bfa91934c 75 }
accelerator225 4:876bfa91934c 76 }*/
Owen 0:a51a6e7da590 77
accelerator225 4:876bfa91934c 78 // rollx+=drx;
accelerator225 4:876bfa91934c 79 // rolly+=dry;
accelerator225 4:876bfa91934c 80 //rollz+=drz;
accelerator225 4:876bfa91934c 81 // sprintf(s,"%f",rollx*180/32767);
accelerator225 4:876bfa91934c 82 // my_nrf24l01p.write( NRF24L01P_PIPE_P0,s,11);
accelerator225 4:876bfa91934c 83 }
accelerator225 4:876bfa91934c 84 int main() {
accelerator225 4:876bfa91934c 85 // my_nrf24l01p.powerUp();
accelerator225 4:876bfa91934c 86 // my_nrf24l01p.setTransferSize( 11);
accelerator225 4:876bfa91934c 87 // my_nrf24l01p.setReceiveMode();
accelerator225 4:876bfa91934c 88 // my_nrf24l01p.enable();
Owen 0:a51a6e7da590 89
accelerator225 4:876bfa91934c 90 Ticker time;
accelerator225 4:876bfa91934c 91 time.attach(&transferdata,0.1);
accelerator225 4:876bfa91934c 92 while(1){
accelerator225 4:876bfa91934c 93
accelerator225 4:876bfa91934c 94 // pc.printf("succes");
accelerator225 4:876bfa91934c 95
accelerator225 4:876bfa91934c 96
accelerator225 4:876bfa91934c 97 }
accelerator225 4:876bfa91934c 98
accelerator225 4:876bfa91934c 99 }
Owen 0:a51a6e7da590 100