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@25:69190c222dbf, 2017-11-26 (annotated)

Committer:
edy05
Date:
Sun Nov 26 17:27:39 2017 +0000
Branch:
DistanceRegulation
Revision:
25:69190c222dbf
Parent:
11:002927b2675d
Child:
26:11539036f0fb
Server fix, Server added pid Limits, bias

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 11:002927b2675d 12
edy05 0:5cefadfd5898 13
edy05 2:d172c9963f87 14 //VARIABLES
edy05 2:d172c9963f87 15 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 16 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 17
edy05 0:5cefadfd5898 18 //FUNCTIONS
edy05 0:5cefadfd5898 19 void print_ppmIn(void);
edy05 0:5cefadfd5898 20
edy05 0:5cefadfd5898 21 int main(){
edy05 2:d172c9963f87 22
edy05 25:69190c222dbf 23 pc.baud(115200);
edy05 25:69190c222dbf 24
edy05 3:6c9f80f5e865 25 // INITIALIZE CLASSES
edy05 2:d172c9963f87 26 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 27 _sonic = new HCSR04(p29, p30);
edy05 25:69190c222dbf 28 _groundDistance = new PID(0, 0, 0, 10);
edy05 1:3a5a074b39e0 29
edy05 3:6c9f80f5e865 30 // STARTING THREADS
edy05 2:d172c9963f87 31 serverThread.start(serverRun);
edy05 2:d172c9963f87 32 distanceThread.start(distanceRegulationThread);
edy05 2:d172c9963f87 33
edy05 2:d172c9963f87 34 wait(1);
edy05 3:6c9f80f5e865 35
edy05 0:5cefadfd5898 36 while(1){
edy05 3:6c9f80f5e865 37 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 38 }
edy05 0:5cefadfd5898 39
edy05 0:5cefadfd5898 40 }
edy05 0:5cefadfd5898 41
edy05 2:d172c9963f87 42
edy05 0:5cefadfd5898 43 void print_ppmIn(){
edy05 2:d172c9963f87 44 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 45 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 46 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 47 }
edy05 0:5cefadfd5898 48 pc.printf("\n\r");
edy05 0:5cefadfd5898 49 }