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?
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 | 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 | } |