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@9:86a5af9935b1, 2017-10-27 (annotated)
- Committer:
- edy05
- Date:
- Fri Oct 27 09:09:24 2017 +0000
- Revision:
- 9:86a5af9935b1
- Parent:
- 8:b5128641d4cf
- Child:
- 11:002927b2675d
Server - Reading PID values from configFile
Who changed what in which revision?
User | Revision | Line number | New 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 | 9:86a5af9935b1 | 12 | /* |
edy05 | 8:b5128641d4cf | 13 | ConfigFile _configFile; |
edy05 | 8:b5128641d4cf | 14 | LocalFileSystem local("local"); |
edy05 | 9:86a5af9935b1 | 15 | */ |
edy05 | 0:5cefadfd5898 | 16 | |
edy05 | 2:d172c9963f87 | 17 | //VARIABLES |
edy05 | 2:d172c9963f87 | 18 | uint16_t ppmInChannelsValue[CHANNELS]; |
edy05 | 2:d172c9963f87 | 19 | volatile uint16_t distance = 0; |
edy05 | 0:5cefadfd5898 | 20 | |
edy05 | 0:5cefadfd5898 | 21 | //FUNCTIONS |
edy05 | 0:5cefadfd5898 | 22 | void print_ppmIn(void); |
edy05 | 0:5cefadfd5898 | 23 | |
edy05 | 0:5cefadfd5898 | 24 | int main(){ |
edy05 | 2:d172c9963f87 | 25 | |
edy05 | 3:6c9f80f5e865 | 26 | // INITIALIZE CLASSES |
edy05 | 2:d172c9963f87 | 27 | _ppmRegen = new PpmRegen(_interruptPort); |
edy05 | 2:d172c9963f87 | 28 | _sonic = new HCSR04(p29, p30); |
edy05 | 2:d172c9963f87 | 29 | _groundDistance = new PID(10, 0, 0, 2); |
edy05 | 1:3a5a074b39e0 | 30 | |
edy05 | 3:6c9f80f5e865 | 31 | // STARTING THREADS |
edy05 | 2:d172c9963f87 | 32 | serverThread.start(serverRun); |
edy05 | 2:d172c9963f87 | 33 | distanceThread.start(distanceRegulationThread); |
edy05 | 2:d172c9963f87 | 34 | |
edy05 | 2:d172c9963f87 | 35 | wait(1); |
edy05 | 3:6c9f80f5e865 | 36 | |
edy05 | 0:5cefadfd5898 | 37 | while(1){ |
edy05 | 8:b5128641d4cf | 38 | |
edy05 | 8:b5128641d4cf | 39 | /* |
edy05 | 8:b5128641d4cf | 40 | // writing to configFile |
edy05 | 8:b5128641d4cf | 41 | _configFile.setValue("ahoj", "edo"); |
edy05 | 8:b5128641d4cf | 42 | _configFile.write("/local/config.cfg"); |
edy05 | 9:86a5af9935b1 | 43 | |
edy05 | 8:b5128641d4cf | 44 | |
edy05 | 8:b5128641d4cf | 45 | //reading configFile |
edy05 | 8:b5128641d4cf | 46 | _configFile.read("/local/config.cfg"); |
edy05 | 8:b5128641d4cf | 47 | char* key = "ahoj"; |
edy05 | 8:b5128641d4cf | 48 | char value[BUFSIZ]; |
edy05 | 8:b5128641d4cf | 49 | if (_configFile.getValue(key, &value[0], sizeof(value))) |
edy05 | 8:b5128641d4cf | 50 | pc.printf("'%s'='%s'\n", key, value); |
edy05 | 9:86a5af9935b1 | 51 | */ |
edy05 | 8:b5128641d4cf | 52 | |
edy05 | 8:b5128641d4cf | 53 | wait(2); |
edy05 | 3:6c9f80f5e865 | 54 | Thread::wait(osWaitForever); |
edy05 | 0:5cefadfd5898 | 55 | } |
edy05 | 0:5cefadfd5898 | 56 | |
edy05 | 0:5cefadfd5898 | 57 | } |
edy05 | 0:5cefadfd5898 | 58 | |
edy05 | 2:d172c9963f87 | 59 | |
edy05 | 0:5cefadfd5898 | 60 | void print_ppmIn(){ |
edy05 | 2:d172c9963f87 | 61 | _ppmRegen->getAllChannels(ppmInChannelsValue); |
edy05 | 2:d172c9963f87 | 62 | for(uint8_t channel= 0; channel < CHANNELS; channel++){ |
edy05 | 0:5cefadfd5898 | 63 | pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]); |
edy05 | 0:5cefadfd5898 | 64 | } |
edy05 | 0:5cefadfd5898 | 65 | pc.printf("\n\r"); |
edy05 | 0:5cefadfd5898 | 66 | } |