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@34:5dca557e982f, 2018-02-25 (annotated)

Committer:
edy05
Date:
Sun Feb 25 18:32:13 2018 +0000
Branch:
DistanceRegulation
Revision:
34:5dca557e982f
Parent:
33:a2f9fea05cb9
Child:
36:ed8b7b7b6cfa
server - fixed sendpage - I hope

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 34:5dca557e982f 8 #include "front_sensor.h"
edy05 2:d172c9963f87 9 #include "PID.h"
edy05 8:b5128641d4cf 10 #include "ConfigFile.h"
edy05 0:5cefadfd5898 11
edy05 8:b5128641d4cf 12 //TEMP
edy05 11:002927b2675d 13
edy05 0:5cefadfd5898 14
edy05 2:d172c9963f87 15 //VARIABLES
edy05 2:d172c9963f87 16 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 17 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 18
edy05 0:5cefadfd5898 19 //FUNCTIONS
edy05 0:5cefadfd5898 20 void print_ppmIn(void);
edy05 0:5cefadfd5898 21
edy05 26:11539036f0fb 22 //RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic, (void *)0);
edy05 26:11539036f0fb 23
edy05 0:5cefadfd5898 24 int main(){
edy05 2:d172c9963f87 25
edy05 25:69190c222dbf 26 pc.baud(115200);
edy05 25:69190c222dbf 27
edy05 3:6c9f80f5e865 28 // INITIALIZE CLASSES
edy05 2:d172c9963f87 29 _ppmRegen = new PpmRegen(_interruptPort);
edy05 27:5956d5e3ff63 30 _groundDistance = new PID(0, 0, 0, 0.005);
edy05 1:3a5a074b39e0 31
edy05 31:5f1737e480f3 32 //setup PID
edy05 31:5f1737e480f3 33 loadConfigFile();
edy05 32:c729e6da7f9a 34 _newP = _P;
edy05 32:c729e6da7f9a 35 _newI = _I;
edy05 32:c729e6da7f9a 36 _newD = _D;
edy05 31:5f1737e480f3 37 // to show values in web browser after first load
edy05 31:5f1737e480f3 38 _groundDistance->setInputLimits(0, 300);
edy05 31:5f1737e480f3 39 _groundDistance->setMode(AUTO_MODE);
edy05 31:5f1737e480f3 40 _groundDistance->setTunings(_P, _I, _D);
edy05 31:5f1737e480f3 41 _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
edy05 31:5f1737e480f3 42 _groundDistance->setBias(_bias);
edy05 31:5f1737e480f3 43
edy05 3:6c9f80f5e865 44 // STARTING THREADS
edy05 33:a2f9fea05cb9 45 pc.printf("starting distance thread \n\r");
edy05 27:5956d5e3ff63 46 _distanceThread = new Thread(distanceRegulationThread);
edy05 27:5956d5e3ff63 47 _distanceThread->set_priority(osPriorityRealtime);
edy05 34:5dca557e982f 48
edy05 34:5dca557e982f 49 //_sonic = new HCSR04(p7, p8, p5, p6);
edy05 34:5dca557e982f 50 _sonic = new HCSR04(p5, p6, p7, p8);
edy05 34:5dca557e982f 51
edy05 34:5dca557e982f 52 _frontSensorThread.start(front_sensor);
edy05 34:5dca557e982f 53 _frontSensorThread.set_priority(osPriorityLow);
edy05 34:5dca557e982f 54
edy05 34:5dca557e982f 55
edy05 34:5dca557e982f 56 pc.printf("starting server thread \n\r");
edy05 34:5dca557e982f 57 _serverThread.start(serverRun);
edy05 34:5dca557e982f 58 _serverThread.set_priority(osPriorityHigh);
edy05 34:5dca557e982f 59
edy05 26:11539036f0fb 60 //distanceRegulation.start(2);
edy05 27:5956d5e3ff63 61 //_distanceThread.start(distanceRegulationTask);
edy05 2:d172c9963f87 62
edy05 26:11539036f0fb 63 //wait(1);
edy05 3:6c9f80f5e865 64
edy05 0:5cefadfd5898 65 while(1){
edy05 3:6c9f80f5e865 66 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 67 }
edy05 0:5cefadfd5898 68
edy05 0:5cefadfd5898 69 }
edy05 0:5cefadfd5898 70
edy05 2:d172c9963f87 71
edy05 0:5cefadfd5898 72 void print_ppmIn(){
edy05 2:d172c9963f87 73 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 74 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 75 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 76 }
edy05 0:5cefadfd5898 77 pc.printf("\n\r");
edy05 0:5cefadfd5898 78 }