Chris Elsholz / Mbed 2 deprecated Quadrocopter

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Dependencies:   mbed TextLCD

Fork of Quadrocopter by Marco Friedmann

main.cpp@10:16ca5e9ee0dc, 2017-08-08 (annotated)

Committer:
MarcoF89
Date:
Tue Aug 08 16:53:22 2017 +0000
Revision:
10:16ca5e9ee0dc
Parent:
9:9185d37e061f
Child:
11:8457b851e3e1
Als n?chstes muss eine Funktion f?r jedes einzelne PWM Signal geschrieben werden. Das Hauptger?st ist vorerst in der main.cpp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MarcoF89 6:27a09e8bebfb 1 #include "mbed.h"
MarcoF89 6:27a09e8bebfb 2 #include "stdio.h"
MarcoF89 6:27a09e8bebfb 3 #include <Timer.h>
MarcoF89 6:27a09e8bebfb 4 #include "messen.h"
MarcoF89 7:a54c97795013 5
MarcoF89 6:27a09e8bebfb 6 static Serial pc(SERIAL_TX, SERIAL_RX);
MarcoF89 6:27a09e8bebfb 7 static SPI spi(PE_6,PE_5,PE_2); //mosi,miso,sclk
MarcoF89 6:27a09e8bebfb 8 static DigitalOut ncs(PE_4); //ssel
MarcoF89 6:27a09e8bebfb 9
MarcoF89 10:16ca5e9ee0dc 10 static AnalogIn poti_1 (PF_3);
MarcoF89 10:16ca5e9ee0dc 11 static AnalogIn poti_2 (PF_10);
MarcoF89 10:16ca5e9ee0dc 12 static AnalogIn poti_3 (PF_4);
MarcoF89 10:16ca5e9ee0dc 13 static AnalogIn poti_4 (PF_5);
MarcoF89 7:a54c97795013 14
MarcoF89 7:a54c97795013 15 static DigitalIn taster1 (PG_7);
MarcoF89 7:a54c97795013 16 static DigitalIn taster2 (PD_10);
MarcoF89 7:a54c97795013 17 static DigitalIn taster3 (PG_14);
MarcoF89 7:a54c97795013 18 static DigitalIn taster4 (PF_12);
MarcoF89 6:27a09e8bebfb 19
MarcoF89 8:769ff3814355 20 static DigitalOut db0(PC_8);
MarcoF89 8:769ff3814355 21 static DigitalOut db1(PC_9);
MarcoF89 8:769ff3814355 22 static DigitalOut db2(PC_10);
MarcoF89 8:769ff3814355 23 static DigitalOut db3(PC_11);
MarcoF89 8:769ff3814355 24 static DigitalOut db4(PC_12);
MarcoF89 8:769ff3814355 25 static DigitalOut db5(PC_13);
MarcoF89 8:769ff3814355 26 static DigitalOut db6(PC_14);
MarcoF89 8:769ff3814355 27 static DigitalOut db7(PC_15);
MarcoF89 8:769ff3814355 28
MarcoF89 10:16ca5e9ee0dc 29 static PwmOut Motor2 (PC_9); // Weiß
MarcoF89 10:16ca5e9ee0dc 30 static PwmOut Motor1 (PC_8); // Schwarz
MarcoF89 10:16ca5e9ee0dc 31 static PwmOut Motor3 (PC_6); // Grau
MarcoF89 10:16ca5e9ee0dc 32 static PwmOut Motor4 (PB_9); // Blau
MarcoF89 10:16ca5e9ee0dc 33 // Gelb und Orange Vcc +5V
MarcoF89 10:16ca5e9ee0dc 34 // Gnd Rot
MarcoF89 9:9185d37e061f 35
MarcoF89 8:769ff3814355 36
MarcoF89 6:27a09e8bebfb 37 int main()
MarcoF89 6:27a09e8bebfb 38 {
MarcoF89 9:9185d37e061f 39
MarcoF89 10:16ca5e9ee0dc 40 Motor1.period_ms(2);
MarcoF89 10:16ca5e9ee0dc 41 Motor2.period_ms(2);
MarcoF89 10:16ca5e9ee0dc 42 Motor3.period_ms(2);
MarcoF89 10:16ca5e9ee0dc 43 Motor4.period_ms(2);
MarcoF89 9:9185d37e061f 44
MarcoF89 10:16ca5e9ee0dc 45
MarcoF89 9:9185d37e061f 46 pc.printf("\n\r");
MarcoF89 6:27a09e8bebfb 47 while(1)
MarcoF89 10:16ca5e9ee0dc 48 {
MarcoF89 10:16ca5e9ee0dc 49 Motor3.pulsewidth_us(poti_1.read_u16()*0.015305732*2);
MarcoF89 10:16ca5e9ee0dc 50 pc.printf("Poti = %2.2f\r",poti_1.read_u16()*0.015305732);
MarcoF89 10:16ca5e9ee0dc 51 }
MarcoF89 10:16ca5e9ee0dc 52 }
MarcoF89 9:9185d37e061f 53
MarcoF89 10:16ca5e9ee0dc 54
MarcoF89 10:16ca5e9ee0dc 55
MarcoF89 9:9185d37e061f 56
MarcoF89 10:16ca5e9ee0dc 57
MarcoF89 10:16ca5e9ee0dc 58 /*
MarcoF89 9:9185d37e061f 59 float x = aktuell_acc_x ();
MarcoF89 9:9185d37e061f 60 float z = aktuell_acc_z ();
MarcoF89 9:9185d37e061f 61 winkel1 = (((float)atan2(x, z)));
MarcoF89 9:9185d37e061f 62 float y = aktuell_acc_y ();
MarcoF89 9:9185d37e061f 63 winkel2 = (((float)atan2(y, z)));
MarcoF89 10:16ca5e9ee0dc 64
MarcoF89 10:16ca5e9ee0dc 65 pc.printf("%4.2f\t\t\t%4.2f\t\r",winkel1*360/6.28, winkel2*360/6.28);*/