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?
User | Revision | Line number | New 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 | |
edy05 | 0:5cefadfd5898 | 41 | |
edy05 | 0:5cefadfd5898 | 42 | |
edy05 | 0:5cefadfd5898 | 43 | |
edy05 | 0:5cefadfd5898 | 44 | |
edy05 | 0:5cefadfd5898 | 45 | |
edy05 | 0:5cefadfd5898 | 46 | |
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 | |
edy05 | 0:5cefadfd5898 | 66 | |
edy05 | 0:5cefadfd5898 | 67 |