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@32:c729e6da7f9a, 2018-02-17 (annotated)

Committer:
edy05
Date:
Sat Feb 17 15:48:49 2018 +0000
Branch:
DistanceRegulation
Revision:
32:c729e6da7f9a
Parent:
31:5f1737e480f3
Child:
33:a2f9fea05cb9
not working

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 26:11539036f0fb 21 //RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic, (void *)0);
edy05 26:11539036f0fb 22
edy05 0:5cefadfd5898 23 int main(){
edy05 2:d172c9963f87 24
edy05 25:69190c222dbf 25 pc.baud(115200);
edy05 25:69190c222dbf 26
edy05 3:6c9f80f5e865 27 // INITIALIZE CLASSES
edy05 2:d172c9963f87 28 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 29 _sonic = new HCSR04(p29, p30);
edy05 27:5956d5e3ff63 30 _groundDistance = new PID(0, 0, 0, 0.005);
edy05 1:3a5a074b39e0 31
edy05 31:5f1737e480f3 32 //setup PID
edy05 31:5f1737e480f3 33 loadConfigFile();
edy05 32:c729e6da7f9a 34 _newP = _P;
edy05 32:c729e6da7f9a 35 _newI = _I;
edy05 32:c729e6da7f9a 36 _newD = _D;
edy05 31:5f1737e480f3 37 // to show values in web browser after first load
edy05 31:5f1737e480f3 38 _groundDistance->setInputLimits(0, 300);
edy05 31:5f1737e480f3 39 _groundDistance->setMode(AUTO_MODE);
edy05 31:5f1737e480f3 40 _groundDistance->setTunings(_P, _I, _D);
edy05 31:5f1737e480f3 41 _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
edy05 31:5f1737e480f3 42 _groundDistance->setBias(_bias);
edy05 31:5f1737e480f3 43
edy05 3:6c9f80f5e865 44 // STARTING THREADS
edy05 32:c729e6da7f9a 45 printf("starting server thread \n\r");
edy05 2:d172c9963f87 46 serverThread.start(serverRun);
edy05 32:c729e6da7f9a 47 serverThread.set_priority(osPriorityHigh);
edy05 32:c729e6da7f9a 48 printf("starting distance thread \n\r");
edy05 27:5956d5e3ff63 49 _distanceThread = new Thread(distanceRegulationThread);
edy05 27:5956d5e3ff63 50 _distanceThread->set_priority(osPriorityRealtime);
edy05 26:11539036f0fb 51 //distanceRegulation.start(2);
edy05 27:5956d5e3ff63 52 //_distanceThread.start(distanceRegulationTask);
edy05 2:d172c9963f87 53
edy05 26:11539036f0fb 54 //wait(1);
edy05 3:6c9f80f5e865 55
edy05 0:5cefadfd5898 56 while(1){
edy05 3:6c9f80f5e865 57 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 58 }
edy05 0:5cefadfd5898 59
edy05 0:5cefadfd5898 60 }
edy05 0:5cefadfd5898 61
edy05 2:d172c9963f87 62
edy05 0:5cefadfd5898 63 void print_ppmIn(){
edy05 2:d172c9963f87 64 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 65 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 66 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 67 }
edy05 0:5cefadfd5898 68 pc.printf("\n\r");
edy05 0:5cefadfd5898 69 }