Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.

Dependencies:   ConfigFile HCSR04 PID PPM2 mbed-rtos mbed

main.cpp@26:11539036f0fb, 2017-12-01 (annotated)

Committer:
edy05
Date:
Fri Dec 01 11:11:23 2017 +0000
Branch:
DistanceRegulation
Revision:
26:11539036f0fb
Parent:
25:69190c222dbf
Child:
27:5956d5e3ff63
Stable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 0:5cefadfd5898 1 #include "mbed.h"
edy05 2:d172c9963f87 2 #include "rtos.h"
edy05 2:d172c9963f87 3 #include "hardware.h"
edy05 2:d172c9963f87 4 #include "Server.h"
edy05 1:3a5a074b39e0 5 #include "PpmRegen.h"
edy05 2:d172c9963f87 6 #include "distanceRegulation.h"
edy05 2:d172c9963f87 7 #include "hcsr04.h"
edy05 2:d172c9963f87 8 #include "PID.h"
edy05 8:b5128641d4cf 9 #include "ConfigFile.h"
edy05 0:5cefadfd5898 10
edy05 8:b5128641d4cf 11 //TEMP
edy05 11:002927b2675d 12
edy05 0:5cefadfd5898 13
edy05 2:d172c9963f87 14 //VARIABLES
edy05 2:d172c9963f87 15 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 16 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 17
edy05 0:5cefadfd5898 18 //FUNCTIONS
edy05 0:5cefadfd5898 19 void print_ppmIn(void);
edy05 0:5cefadfd5898 20
edy05 26:11539036f0fb 21 //RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic, (void *)0);
edy05 26:11539036f0fb 22
edy05 0:5cefadfd5898 23 int main(){
edy05 2:d172c9963f87 24
edy05 25:69190c222dbf 25 pc.baud(115200);
edy05 25:69190c222dbf 26
edy05 3:6c9f80f5e865 27 // INITIALIZE CLASSES
edy05 2:d172c9963f87 28 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 29 _sonic = new HCSR04(p29, p30);
edy05 26:11539036f0fb 30 _groundDistance = new PID(0, 0, 0, 0.002);
edy05 1:3a5a074b39e0 31
edy05 3:6c9f80f5e865 32 // STARTING THREADS
edy05 2:d172c9963f87 33 serverThread.start(serverRun);
edy05 26:11539036f0fb 34 //_distanceThread = new Thread(distanceRegulationThread);
edy05 26:11539036f0fb 35 //_distanceThread->set_priority(osPriorityRealtime);
edy05 26:11539036f0fb 36 //distanceRegulation.start(2);
edy05 26:11539036f0fb 37 _distanceThread.start(distanceRegulationTask);
edy05 2:d172c9963f87 38
edy05 26:11539036f0fb 39 //wait(1);
edy05 3:6c9f80f5e865 40
edy05 0:5cefadfd5898 41 while(1){
edy05 3:6c9f80f5e865 42 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 43 }
edy05 0:5cefadfd5898 44
edy05 0:5cefadfd5898 45 }
edy05 0:5cefadfd5898 46
edy05 2:d172c9963f87 47
edy05 0:5cefadfd5898 48 void print_ppmIn(){
edy05 2:d172c9963f87 49 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 50 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 51 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 52 }
edy05 0:5cefadfd5898 53 pc.printf("\n\r");
edy05 0:5cefadfd5898 54 }