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@10:bb9c778f8e3e, 2017-10-27 (annotated)

Committer:
edy05
Date:
Fri Oct 27 09:29:29 2017 +0000
Revision:
10:bb9c778f8e3e
Parent:
9:86a5af9935b1
Child:
11:002927b2675d
Server - after sending refresh - save PID values to config file.

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 10:bb9c778f8e3e 36 void loadConfigFile(void);
edy05 10:bb9c778f8e3e 37 void writeServerSettingsToConfig(void);
edy05 10:bb9c778f8e3e 38 void ConvertToCharArray(float number);
edy05 10:bb9c778f8e3e 39
edy05 9:86a5af9935b1 40 void loadConfigFile(void){
edy05 9:86a5af9935b1 41 //reading configFile
edy05 9:86a5af9935b1 42 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 43 char value[BUFSIZ];
edy05 9:86a5af9935b1 44 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 45 _P = atof(value);
edy05 9:86a5af9935b1 46 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 47 _I = atof(value);
edy05 9:86a5af9935b1 48 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 49 _D = atof(value);
edy05 9:86a5af9935b1 50
edy05 9:86a5af9935b1 51 }
edy05 9:86a5af9935b1 52
edy05 10:bb9c778f8e3e 53 void writeServerSettingsToConfig(void){
edy05 10:bb9c778f8e3e 54 ConvertToCharArray(_P);
edy05 10:bb9c778f8e3e 55 _configFile.setValue("P", _str);
edy05 10:bb9c778f8e3e 56 ConvertToCharArray(_I);
edy05 10:bb9c778f8e3e 57 _configFile.setValue("I", _str);
edy05 10:bb9c778f8e3e 58 ConvertToCharArray(_D);
edy05 10:bb9c778f8e3e 59 _configFile.setValue("D", _str);
edy05 10:bb9c778f8e3e 60
edy05 10:bb9c778f8e3e 61 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 62
edy05 10:bb9c778f8e3e 63 }
edy05 10:bb9c778f8e3e 64
edy05 9:86a5af9935b1 65 //Converts float to char array
edy05 9:86a5af9935b1 66 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 67 {
edy05 9:86a5af9935b1 68 sprintf(_str, "%4.2f", number );
edy05 9:86a5af9935b1 69 }
edy05 8:b5128641d4cf 70
edy05 8:b5128641d4cf 71
edy05 2:d172c9963f87 72 #endif