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@6:c81abfa61bce, 2017-10-26 (annotated)

Committer:
edy05
Date:
Thu Oct 26 16:15:47 2017 +0000
Revision:
6:c81abfa61bce
Parent:
5:1ad4ca4ee9d8
Parent:
3:6c9f80f5e865
Child:
12:18b31682dfe9
cleaning

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 0:5cefadfd5898 9
edy05 2:d172c9963f87 10 //VARIABLES
edy05 2:d172c9963f87 11 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 12 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 13
edy05 0:5cefadfd5898 14 //FUNCTIONS
edy05 0:5cefadfd5898 15 void print_ppmIn(void);
edy05 0:5cefadfd5898 16
edy05 0:5cefadfd5898 17 int main(){
edy05 2:d172c9963f87 18
edy05 3:6c9f80f5e865 19 // INITIALIZE CLASSES
edy05 2:d172c9963f87 20 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 21 _sonic = new HCSR04(p29, p30);
edy05 2:d172c9963f87 22 _groundDistance = new PID(10, 0, 0, 2);
edy05 1:3a5a074b39e0 23
edy05 3:6c9f80f5e865 24 // STARTING THREADS
edy05 2:d172c9963f87 25 serverThread.start(serverRun);
edy05 2:d172c9963f87 26 distanceThread.start(distanceRegulationThread);
edy05 2:d172c9963f87 27
edy05 2:d172c9963f87 28 wait(1);
edy05 3:6c9f80f5e865 29
edy05 0:5cefadfd5898 30 while(1){
edy05 3:6c9f80f5e865 31 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 32 }
edy05 0:5cefadfd5898 33
edy05 0:5cefadfd5898 34 }
edy05 0:5cefadfd5898 35
edy05 2:d172c9963f87 36
edy05 0:5cefadfd5898 37 void print_ppmIn(){
edy05 2:d172c9963f87 38 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 39 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 40 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 41 }
edy05 0:5cefadfd5898 42 pc.printf("\n\r");
edy05 0:5cefadfd5898 43 }