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@12:18b31682dfe9, 2017-10-27 (annotated)

Committer:
edy05
Date:
Fri Oct 27 10:31:30 2017 +0000
Revision:
12:18b31682dfe9
Parent:
11:002927b2675d
Parent:
6:c81abfa61bce 
merged configFile with master

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 0:5cefadfd5898 12
edy05 2:d172c9963f87 13 //VARIABLES
edy05 2:d172c9963f87 14 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 15 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 16
edy05 0:5cefadfd5898 17 //FUNCTIONS
edy05 0:5cefadfd5898 18 void print_ppmIn(void);
edy05 0:5cefadfd5898 19
edy05 0:5cefadfd5898 20 int main(){
edy05 2:d172c9963f87 21
edy05 3:6c9f80f5e865 22 // INITIALIZE CLASSES
edy05 2:d172c9963f87 23 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 24 _sonic = new HCSR04(p29, p30);
edy05 2:d172c9963f87 25 _groundDistance = new PID(10, 0, 0, 2);
edy05 1:3a5a074b39e0 26
edy05 3:6c9f80f5e865 27 // STARTING THREADS
edy05 2:d172c9963f87 28 serverThread.start(serverRun);
edy05 2:d172c9963f87 29 distanceThread.start(distanceRegulationThread);
edy05 2:d172c9963f87 30
edy05 2:d172c9963f87 31 wait(1);
edy05 3:6c9f80f5e865 32
edy05 0:5cefadfd5898 33 while(1){
edy05 3:6c9f80f5e865 34 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 35 }
edy05 0:5cefadfd5898 36
edy05 0:5cefadfd5898 37 }
edy05 0:5cefadfd5898 38
edy05 2:d172c9963f87 39
edy05 0:5cefadfd5898 40 void print_ppmIn(){
edy05 2:d172c9963f87 41 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 42 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 43 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 44 }
edy05 0:5cefadfd5898 45 pc.printf("\n\r");
edy05 0:5cefadfd5898 46 }