Chris Elsholz
/
Quadrocopter
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Fork of
Quadrocopter
by 
Marco Friedmann
Diff: main.cpp
- Revision:
- 13:5f0a2103c707
- Parent:
- 12:4a4dad7a3432
- Child:
- 15:742683a8efda
--- a/main.cpp Wed Aug 16 09:45:50 2017 +0000
+++ b/main.cpp Thu Aug 17 12:32:10 2017 +0000
@@ -1,236 +1,40 @@
+#include <Timer.h>
+#include <math.h>
+#include "deklaration.h"
+#include "messen.h"
#include "mbed.h"
#include "stdio.h"
-#include <Timer.h>
-#include "messen.h"
-#include <math.h>
-
-static Serial pc(SERIAL_TX, SERIAL_RX);
-static SPI spi(PE_6,PE_5,PE_2); //mosi,miso,sclk
-static DigitalOut ncs(PE_4); //ssel
-
-static AnalogIn poti_1(PF_3);
-static AnalogIn poti_2(PF_10);
-static AnalogIn poti_3(PF_4);
-static AnalogIn poti_4(PF_5);
-
-
-
-static DigitalOut db0(PC_8);
-static DigitalOut db1(PC_9);
-static DigitalOut db2(PC_10);
-static DigitalOut db3(PC_11);
-static DigitalOut db4(PC_12);
-static DigitalOut db5(PC_13);
-static DigitalOut db6(PC_14);
-static DigitalOut db7(PC_15);
-
-static PwmOut Motor1 (PC_8); // Schwarz QBRAIN: rot
-static PwmOut Motor2 (PC_9); // Weiß orange
-static PwmOut Motor3 (PC_6); // Grau weiß
-static PwmOut Motor4 (PB_9); // Blau braun
- // Gelb und Orange Vcc +5V
- // Gnd Rot
-
-
-static int n1, n2, n3, n4;
-
-float k;
-float y_off, y_high_low_summe, y_winkel;
-
-uint16_t i, j;
-
-uint16_t zeit;
-uint32_t zeit2;
-
-
-Timer timer;
-Timer timer2;
-
-AnalogOut rauschen(PA_5);
-
-
+
int main()
-{ Motor1.period_ms(2);
+{
+ Motor1.period_ms(2);
Motor2.period_ms(2);
Motor3.period_ms(2);
Motor4.period_ms(2);
- wait_ms (10);
- pc.printf("\n\r");
initialisierung_gyro();
- initialisierung_acc();
- wait_ms(20);
+ initialisierung_acc();
if (taster2)
{
- rauschen = 1;
- n1 = n2 = n3 = n4 = 700;
- Motor1.pulsewidth_us(n1);
- Motor2.pulsewidth_us(n2);
- Motor3.pulsewidth_us(n3);
- Motor4.pulsewidth_us(n4);
- wait_ms(10000);
- while(!taster4)
- {
- for(i = 1; i <= 1000; i++)
- {
- Motor1.pulsewidth_us(n1);
- Motor2.pulsewidth_us(n2);
- Motor3.pulsewidth_us(n3);
- Motor4.pulsewidth_us(n4);
- k = aktuell_acc_x()*aktuell_acc_x();
- k = sqrt(k) * 0.0000438596491;
- pc.printf("Winkel:%2.5f\n\r",k);
- rauschen = k;
- wait_ms(10);
- }
- for(i = 1, n1 = n2 = n3= 1400; i <= 3000; i++)
- {
- Motor1.pulsewidth_us(n1);
- Motor2.pulsewidth_us(n2);
- Motor3.pulsewidth_us(n3);
- Motor4.pulsewidth_us(n4);
- k = aktuell_acc_x()*aktuell_acc_x();
- k = sqrt(k) * 0.0000438596491;
- pc.printf("Winkel:%2.5f\n\r",k);
- rauschen = k;
- wait_ms(10);
- }
- rauschen = 0;
- wait_ms(100000);
- }
+ viberationen(&rauschen, &Motor1, &Motor2, &Motor3, &Motor4, &taster4);
}
if (taster3)
{
- n1 = n2 = n3 = n4 = 1900;
- Motor1.pulsewidth_us(n1);
- Motor2.pulsewidth_us(n2);
- Motor3.pulsewidth_us(n3);
- Motor4.pulsewidth_us(n4);
- pc.printf("Nach einem langem PiepTon Taste1 betaetigen\n\r");
- pc.printf("Drehzahl aller Motoren: %d%%\r",(n1-700)*100/(1900-700));
- while (!taster4)
- {
- if (taster1)
- {
- n1 = n2 =n3 = n4 = 700;
- }
- if (taster2)
- {
- n1 = n2 = n3 = n4 =1900;
- }
- Motor1.pulsewidth_us(n1);
- Motor2.pulsewidth_us(n2);
- Motor3.pulsewidth_us(n3);
- Motor4.pulsewidth_us(n4);
- pc.printf("Drehzahl aller Motoren: %d%%\r",(n1-700)*100/(1900-700));
- }
+ anlernen(&Motor1, &Motor2, &Motor3, &Motor4, &taster1, &taster2, &taster4);
}
- wait_ms (10);
- pc.printf("Drehzahl aller Motoren: %d%%\n\r",(n1-700)*100/(1900-700));
- pc.printf("Druecke Taster1 für den Start\n\r");
- while(1)
- {
- n1 = n2 = n3 = n4 =700;
+ pc.printf("Druecke Taster1 für den Start\n\r");
+ n1 = n2 = n3 = n4 = 700;
Motor1.pulsewidth_us(n1);
Motor2.pulsewidth_us(n2);
Motor3.pulsewidth_us(n3);
- Motor4.pulsewidth_us(n4);
+ Motor4.pulsewidth_us(n4);
+ while(1)
+ {
if (taster1)
{
- pc.printf("Du hast den Hobel gestartert, lauf!!!\n\r");
while(!taster4)
- {
- pc.printf("Halte still, es wird kalibiriert!!!\n\r");
- //Offset:
- for(i = 1; i <= 40000; i++)
- {
- y_off += aktuell_gyro_y();
- }
- y_off /= 40000;
- pc.printf("Y_Off = %2.2f\n\r",y_off);
- pc.printf("Ich habe fertig kalibiriert!!!\n\r");
- for(i = 1; i<= 100; i++)
- {
- n2 += 1;
- n4 += 1;
- Motor4.pulsewidth_us(n4);
- Motor2.pulsewidth_us(n2);
- wait_ms(20);
- }
- wait_ms(2000);
- //Messen
- y_high_low_summe = 0;
- i = 0;
- j = 0;
- timer.reset();
- timer2.reset();
- y_winkel = 0;
- while(!taster4) {
- i++; //Zähler für den Printf
- j++; //Zähler für die Motoren
- timer.start();
- timer2.start();
- zeit = timer.read_us();
- timer.reset();
- timer.start();
- zeit2 = timer2.read_ms();
- y_high_low_summe = aktuell_gyro_y() - y_off; //Offset vom Messwert subtrahieren
- y_winkel = y_winkel + (y_high_low_summe * zeit * 0.000001 * 1/16.4); //Messwert multipliziert mit der Zeitdifferenz
- if (y_winkel < 0 && j == 1000 && n4 < 1200)
- {
- n4++;
- Motor4.pulsewidth_us(n4);
- if (n2 > 800)
- {
- n2 --;
- Motor2.pulsewidth_us(n2);
- }
- j = 0;
- }
- if (y_winkel > 0 && j == 1000 && n2 < 1200)
- {
- n2++;
- if (n4 > 800)
- {
- n4 --;
- Motor2.pulsewidth_us(n2);
- }
- Motor4.pulsewidth_us(n4);
- j = 0;
- }
- if (i == 20000)
- {
- pc.printf("y_Winkel: = %3.5f\tMotor2:%d%%\tMotor4:%d%%\tMotor2:%d\tMotor4:%d\n\r", y_winkel, (n2-700)*100/(1900-700), (n4-700)*100/(1900-700),n2, n4);
- i = 0;
- }
- }
+ {
}
}
}
-}
-
-
-
-
-
-
-
-
-/*if(taster1.read())
-{
-i = 0.35*2000;
-}
-if(taster2.read())
-{
-i = 0.95*2000;
-}*/
-
-
-/*
- float x = aktuell_acc_x ();
- float z = aktuell_acc_z ();
- winkel1 = (((float)atan2(x, z)));
- float y = aktuell_acc_y ();
- winkel2 = (((float)atan2(y, z)));
-
- pc.printf("%4.2f\t\t\t%4.2f\t\r",winkel1*360/6.28, winkel2*360/6.28);*/
\ No newline at end of file
+}
\ No newline at end of file