Chris Elsholz / Mbed 2 deprecated Quadrocopter

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Dependencies:   mbed TextLCD

Fork of Quadrocopter by Marco Friedmann

main.cpp@9:9185d37e061f, 2017-08-08 (annotated)

Committer:
MarcoF89
Date:
Tue Aug 08 08:32:25 2017 +0000
Revision:
9:9185d37e061f
Parent:
8:769ff3814355
Child:
10:16ca5e9ee0dc
Steckerbelegung zum Q-Brain

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 7:a54c97795013 10 static AnalogIn potis_1 (PF_3);
MarcoF89 7:a54c97795013 11 static AnalogIn potis_2 (PF_10);
MarcoF89 7:a54c97795013 12 static AnalogIn potis_3 (PF_4);
MarcoF89 7:a54c97795013 13 static AnalogIn potis_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 9:9185d37e061f 29 PwmOut Motor2 (PC_9); // Weiß
MarcoF89 9:9185d37e061f 30 PwmOut Motor1 (PC_8); // Schwarz
MarcoF89 9:9185d37e061f 31 PwmOut Motor3 (PC_6); // Grau
MarcoF89 9:9185d37e061f 32 PwmOut Motor4 (PB_9); // Blau
MarcoF89 9:9185d37e061f 33 // Gelb und Orange Vcc +5V
MarcoF89 9:9185d37e061f 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 9:9185d37e061f 40 float winkel1, winkel2;
MarcoF89 9:9185d37e061f 41
MarcoF89 6:27a09e8bebfb 42 initialisierung_gyro();
MarcoF89 6:27a09e8bebfb 43 initialisierung_acc ();
MarcoF89 9:9185d37e061f 44 pc.printf("\n\r");
MarcoF89 6:27a09e8bebfb 45 while(1)
MarcoF89 6:27a09e8bebfb 46 {
MarcoF89 9:9185d37e061f 47 #include "mbed.h"
MarcoF89 9:9185d37e061f 48
MarcoF89 9:9185d37e061f 49 PwmOut PWM (PB_11);
MarcoF89 9:9185d37e061f 50 AnalogIn poti (PA_6);
MarcoF89 9:9185d37e061f 51
MarcoF89 9:9185d37e061f 52
MarcoF89 9:9185d37e061f 53 {
MarcoF89 9:9185d37e061f 54 PWM = poti.read();
MarcoF89 9:9185d37e061f 55 pc.printf("%f\n\r", poti.read());
MarcoF89 9:9185d37e061f 56 }
MarcoF89 9:9185d37e061f 57
MarcoF89 9:9185d37e061f 58 float x = aktuell_acc_x ();
MarcoF89 9:9185d37e061f 59 float z = aktuell_acc_z ();
MarcoF89 9:9185d37e061f 60 winkel1 = (((float)atan2(x, z)));
MarcoF89 9:9185d37e061f 61 float y = aktuell_acc_y ();
MarcoF89 9:9185d37e061f 62 winkel2 = (((float)atan2(y, z)));
MarcoF89 9:9185d37e061f 63
MarcoF89 9:9185d37e061f 64
MarcoF89 9:9185d37e061f 65 pc.printf("%4.2f\t\t\t%4.2f\t\r",winkel1*360/6.28, winkel2*360/6.28);
MarcoF89 6:27a09e8bebfb 66 }
MarcoF89 6:27a09e8bebfb 67 }