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@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?

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 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 }