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

hardware.h@9:86a5af9935b1, 2017-10-27 (annotated)

Committer:
edy05
Date:
Fri Oct 27 09:09:24 2017 +0000
Revision:
9:86a5af9935b1
Parent:
8:b5128641d4cf
Child:
10:bb9c778f8e3e
Server - Reading PID values from configFile

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 2:d172c9963f87 1 #ifndef HARDWARE
edy05 2:d172c9963f87 2 #define HARDWARE
edy05 2:d172c9963f87 3
edy05 2:d172c9963f87 4 #include "mbed.h"
edy05 2:d172c9963f87 5 #include "PpmRegen.h"
edy05 2:d172c9963f87 6 #include "PID.h"
edy05 2:d172c9963f87 7 #include "hcsr04.h"
edy05 8:b5128641d4cf 8 #include "ConfigFile.h"
edy05 2:d172c9963f87 9
edy05 2:d172c9963f87 10 Serial pc(USBTX, USBRX); // tx, rx
edy05 2:d172c9963f87 11
edy05 2:d172c9963f87 12 Thread serverThread;
edy05 2:d172c9963f87 13 Thread distanceThread;
edy05 2:d172c9963f87 14
edy05 2:d172c9963f87 15 InterruptIn* _interruptPort = new InterruptIn(p28);
edy05 2:d172c9963f87 16 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 17 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 18 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 19 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 20 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 21 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 22 PpmRegen* _ppmRegen;
edy05 2:d172c9963f87 23
edy05 2:d172c9963f87 24 PID* _groundDistance;
edy05 2:d172c9963f87 25
edy05 2:d172c9963f87 26 HCSR04* _sonic;
edy05 2:d172c9963f87 27
edy05 9:86a5af9935b1 28 ConfigFile _configFile;
edy05 9:86a5af9935b1 29 LocalFileSystem local("local");
edy05 9:86a5af9935b1 30 char* _str = new char[1024];
edy05 2:d172c9963f87 31
edy05 9:86a5af9935b1 32 float _P = 0;
edy05 9:86a5af9935b1 33 float _I = 0;
edy05 9:86a5af9935b1 34 float _D = 0;
edy05 8:b5128641d4cf 35
edy05 9:86a5af9935b1 36 void loadConfigFile(void){
edy05 9:86a5af9935b1 37 //reading configFile
edy05 9:86a5af9935b1 38 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 39 char value[BUFSIZ];
edy05 9:86a5af9935b1 40 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 41 _P = atof(value);
edy05 9:86a5af9935b1 42 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 43 _I = atof(value);
edy05 9:86a5af9935b1 44 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 45 _D = atof(value);
edy05 9:86a5af9935b1 46
edy05 9:86a5af9935b1 47 }
edy05 9:86a5af9935b1 48
edy05 9:86a5af9935b1 49 //Converts float to char array
edy05 9:86a5af9935b1 50 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 51 {
edy05 9:86a5af9935b1 52 sprintf(_str, "%4.2f", number );
edy05 9:86a5af9935b1 53 }
edy05 8:b5128641d4cf 54
edy05 8:b5128641d4cf 55
edy05 2:d172c9963f87 56 #endif