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@0:5cefadfd5898, 2017-09-22 (annotated)

Committer:
edy05
Date:
Fri Sep 22 11:29:54 2017 +0000
Revision:
0:5cefadfd5898
Child:
1:3a5a074b39e0
1 release, bugs;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 0:5cefadfd5898 1 #include "mbed.h"
edy05 0:5cefadfd5898 2 #include "PPMOut.h"
edy05 0:5cefadfd5898 3 #include "PPMIn.h"
edy05 0:5cefadfd5898 4 //#include "PPMIn.h"
edy05 0:5cefadfd5898 5 //#include "ultrasonic.h"
edy05 0:5cefadfd5898 6 //#include "MyPID.h"
edy05 0:5cefadfd5898 7
edy05 0:5cefadfd5898 8
edy05 0:5cefadfd5898 9 #define AUX1 4
edy05 0:5cefadfd5898 10 #define PIEZZO_START 0.1
edy05 0:5cefadfd5898 11 #define PIEZZO_STOP 0.0
edy05 0:5cefadfd5898 12 #define PPMOUT_CHANNELS 6
edy05 0:5cefadfd5898 13 #define PPMIN_CHANNELS 8
edy05 0:5cefadfd5898 14
edy05 0:5cefadfd5898 15 Serial pc(USBTX, USBRX); // tx, rx
edy05 0:5cefadfd5898 16 PpmOut ppmOut(p26, PPMOUT_CHANNELS);
edy05 0:5cefadfd5898 17 PpmIn ppmIn(p21);
edy05 0:5cefadfd5898 18
edy05 0:5cefadfd5898 19
edy05 0:5cefadfd5898 20 uint16_t ppmOutChannelsValue[PPMOUT_CHANNELS];
edy05 0:5cefadfd5898 21 uint16_t ppmInChannelsValue[PPMIN_CHANNELS];
edy05 0:5cefadfd5898 22
edy05 0:5cefadfd5898 23 //FUNCTIONS
edy05 0:5cefadfd5898 24 void print_ppmOut(void);
edy05 0:5cefadfd5898 25 void print_ppmIn(void);
edy05 0:5cefadfd5898 26
edy05 0:5cefadfd5898 27 int main(){
edy05 0:5cefadfd5898 28
edy05 0:5cefadfd5898 29 while(1){
edy05 0:5cefadfd5898 30 print_ppmIn();
edy05 0:5cefadfd5898 31 print_ppmOut();
edy05 0:5cefadfd5898 32
edy05 0:5cefadfd5898 33 if(ppmIn.rise_captured()){
edy05 0:5cefadfd5898 34 pc.printf("Rise captured \n\r");
edy05 0:5cefadfd5898 35 }
edy05 0:5cefadfd5898 36
edy05 0:5cefadfd5898 37 }
edy05 0:5cefadfd5898 38
edy05 0:5cefadfd5898 39 }
edy05 0:5cefadfd5898 40
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edy05 0:5cefadfd5898 47
edy05 0:5cefadfd5898 48
edy05 0:5cefadfd5898 49
edy05 0:5cefadfd5898 50 void print_ppmOut(){
edy05 0:5cefadfd5898 51 ppmOut.getAllChannels(ppmOutChannelsValue);
edy05 0:5cefadfd5898 52
edy05 0:5cefadfd5898 53 for(uint8_t channel= 0; channel < PPMOUT_CHANNELS; channel++){
edy05 0:5cefadfd5898 54 pc.printf("PPM Out Channel %d: %d \n\r", channel, ppmOutChannelsValue[channel]);
edy05 0:5cefadfd5898 55 }
edy05 0:5cefadfd5898 56 }
edy05 0:5cefadfd5898 57
edy05 0:5cefadfd5898 58 void print_ppmIn(){
edy05 0:5cefadfd5898 59 ppmIn.getAllChannels(ppmInChannelsValue);
edy05 0:5cefadfd5898 60 for(uint8_t channel= 0; channel < PPMIN_CHANNELS; channel++){
edy05 0:5cefadfd5898 61 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 62 }
edy05 0:5cefadfd5898 63 pc.printf("\n\r");
edy05 0:5cefadfd5898 64 }
edy05 0:5cefadfd5898 65
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edy05 0:5cefadfd5898 67