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@5:1ad4ca4ee9d8, 2017-10-26 (annotated)

Committer:
edy05
Date:
Thu Oct 26 16:15:08 2017 +0000
Revision:
5:1ad4ca4ee9d8
Parent:
4:c909ed06dc1f
Child:
6:c81abfa61bce
comment config file removed

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 0:5cefadfd5898 9
edy05 2:d172c9963f87 10 //VARIABLES
edy05 2:d172c9963f87 11 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 12 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 13
edy05 0:5cefadfd5898 14 //FUNCTIONS
edy05 0:5cefadfd5898 15 void print_ppmIn(void);
edy05 2:d172c9963f87 16 void dist(int);
edy05 2:d172c9963f87 17 //HCSR04 sonic(p6, p7);
edy05 2:d172c9963f87 18 //_ppmRegen = new PpmRegen(_interruptPort, _roll, _pitch, _yaw, _throttle, _aux1, _aux2);
edy05 0:5cefadfd5898 19
edy05 0:5cefadfd5898 20 int main(){
edy05 2:d172c9963f87 21
edy05 2:d172c9963f87 22 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 23 _sonic = new HCSR04(p29, p30);
edy05 2:d172c9963f87 24 _groundDistance = new PID(10, 0, 0, 2);
edy05 1:3a5a074b39e0 25
edy05 2:d172c9963f87 26 serverThread.start(serverRun);
edy05 2:d172c9963f87 27 distanceThread.start(distanceRegulationThread);
edy05 2:d172c9963f87 28 //_sonic.startUpdates();
edy05 2:d172c9963f87 29
edy05 2:d172c9963f87 30 wait(1);
edy05 0:5cefadfd5898 31 while(1){
edy05 1:3a5a074b39e0 32 //print_ppmIn();
edy05 2:d172c9963f87 33 //_sonic.checkDistance();
edy05 2:d172c9963f87 34 //distance = _sonic.getCurrentDistance();
edy05 2:d172c9963f87 35 //distance = sonic.getDistance();
edy05 2:d172c9963f87 36 //pc.printf("Distance: %d \n\r", distance);
edy05 2:d172c9963f87 37 Thread::wait(100);
edy05 2:d172c9963f87 38
edy05 0:5cefadfd5898 39 }
edy05 0:5cefadfd5898 40
edy05 0:5cefadfd5898 41 }
edy05 0:5cefadfd5898 42
edy05 2:d172c9963f87 43
edy05 2:d172c9963f87 44 void dist(int distan)
edy05 2:d172c9963f87 45 {
edy05 2:d172c9963f87 46 //pc.printf("Distance: %d \n\r", distan);
edy05 2:d172c9963f87 47 distance = distan;
edy05 2:d172c9963f87 48 }
edy05 2:d172c9963f87 49
edy05 0:5cefadfd5898 50 void print_ppmIn(){
edy05 2:d172c9963f87 51 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 52 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 53 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 54 }
edy05 0:5cefadfd5898 55 pc.printf("\n\r");
edy05 0:5cefadfd5898 56 }