Pedro Enrique Vidal Peñas
Gestion de imu y arranque de motores cuadcopter primera fase
Revision 0:ce49c05e9d73, committed 2011-02-22
- Comitter:
- cr0n0s20
- Date:
- Tue Feb 22 22:08:30 2011 +0000
- Commit message:
- cuadcopter
Changed in this revision
diff -r 000000000000 -r ce49c05e9d73 9dof.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/9dof.cpp Tue Feb 22 22:08:30 2011 +0000
@@ -0,0 +1,52 @@
+#include "9dof.h"
+
+dof9RazorImu::dof9RazorImu(PinName tx, PinName rx)
+{
+ razor = new Serial(tx, rx);
+ razor->baud(BAUD_RATE);
+}
+
+void dof9RazorImu::update(void)
+{
+
+ if(DOFFW == 0){
+ razor->printf("4");
+ while (razor->getc() != '$');
+ razor->scanf(",%d,%d,%d", &acc_x, &acc_y, &acc_z);
+ razor->scanf(",%d,%d,%d", &gyro_x, &gyro_y, &gyro_z);
+ razor->scanf(",%d,%d,%d,#", &mag_x, &mag_y, &mag_z);
+ }else{
+ while (razor->getc() != '$');
+ razor->scanf(",%d,%d,%d", &gyro_x, &gyro_y, &gyro_z);
+ razor->scanf(",%d,%d,%d", &acc_x, &acc_y, &acc_z);
+ razor->scanf(",%d,%d,%d,#", &mag_x, &mag_y, &mag_z);
+ }
+}
+
+
+int dof9RazorImu::getGyroX(void)
+{ return gyro_x; }
+
+int dof9RazorImu::getGyroY(void)
+{ return gyro_y; }
+
+int dof9RazorImu::getGyroZ(void)
+{ return gyro_z; }
+
+int dof9RazorImu::getAccX(void)
+{ return acc_x; }
+
+int dof9RazorImu::getAccY(void)
+{ return acc_x; }
+
+int dof9RazorImu::getAccZ(void)
+{ return acc_z; }
+
+int dof9RazorImu::getMagX(void)
+{ return mag_x; }
+
+int dof9RazorImu::getMagY(void)
+{ return mag_y; }
+
+int dof9RazorImu::getMagZ(void)
+{ return mag_z; }
\ No newline at end of file
diff -r 000000000000 -r ce49c05e9d73 9dof.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/9dof.h Tue Feb 22 22:08:30 2011 +0000
@@ -0,0 +1,62 @@
+#ifndef DOF9_RAZOR_IMU_H
+#define DOF9_RAZOR_IMU_H
+
+//****************************************************************************/
+// Includes
+//****************************************************************************/
+#include "mbed.h"
+
+//****************************************************************************/
+// Defines
+//****************************************************************************/
+
+class dof9RazorImu {
+#define BAUD_RATE 38400 //Default in frimware from SparkFun.
+#define DOFFW 0// 1 PARA MODIFICADO
+public:
+
+ /**
+ * Constructor.
+ *
+ * Parameters:
+ *
+ * tx - Pin to use for Serial transmission.
+ * rx - Pin to use for Serial receive.
+ */
+ dof9RazorImu(PinName tx, PinName rx);
+
+ /**
+ * Update all of the heading data.
+ */
+ void update(void);
+
+ int getGyroX(void);
+ int getGyroY(void);
+ int getGyroZ(void);
+
+ int getAccX(void);
+ int getAccY(void);
+ int getAccZ(void);
+
+ int getMagX(void);
+ int getMagY(void);
+ int getMagZ(void);
+
+private:
+
+ Serial* razor;
+
+ int gyro_x;
+ int gyro_y;
+ int gyro_z;
+
+ int acc_x;
+ int acc_y;
+ int acc_z;
+
+ int mag_x;
+ int mag_y;
+ int mag_z;
+};
+
+#endif /* DOF9_RAZOR_IMU_H */
\ No newline at end of file
diff -r 000000000000 -r ce49c05e9d73 Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Tue Feb 22 22:08:30 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/cr0n0s20/code/Servo/#5490c22f727d
diff -r 000000000000 -r ce49c05e9d73 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Feb 22 22:08:30 2011 +0000
@@ -0,0 +1,33 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "main.h"
+#include "9dof.h"
+
+Servo motor(p21);
+
+Serial pc(USBTX, USBRX);
+dof9RazorImu Razor(p9, p10);
+
+int main() {
+
+
+
+ armarESC();
+ wait_ms(10000);
+ for (int i = 0; i < 50000; i++) {
+ motor = 50.0;
+
+ Razor.update();
+ pc.printf("%d\r\n", Razor.getGyroZ());
+ wait(0.5);
+
+ }
+
+}
+//Función para armar el ESC
+void armarESC() {
+ wait_ms(10000);
+ motor = 0.0;
+ wait_ms(10000);
+ motor = 11.56;
+}
\ No newline at end of file
diff -r 000000000000 -r ce49c05e9d73 main.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Tue Feb 22 22:08:30 2011 +0000 @@ -0,0 +1,8 @@ +#ifndef _main_H_ +#define _main_H_ + + void armarESC(); + + + +#endif \ No newline at end of file
diff -r 000000000000 -r ce49c05e9d73 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Feb 22 22:08:30 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912