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@2:d172c9963f87, 2017-10-26 (annotated)
- Committer:
- edy05
- Date:
- Thu Oct 26 15:54:47 2017 +0000
- Revision:
- 2:d172c9963f87
- Parent:
- 1:3a5a074b39e0
- Child:
- 3:6c9f80f5e865
- Child:
- 4:c909ed06dc1f
stable release with distanceRegulation thread
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 | 0:5cefadfd5898 | 9 | |
edy05 | 0:5cefadfd5898 | 10 | |
edy05 | 2:d172c9963f87 | 11 | //VARIABLES |
edy05 | 2:d172c9963f87 | 12 | uint16_t ppmInChannelsValue[CHANNELS]; |
edy05 | 2:d172c9963f87 | 13 | volatile uint16_t distance = 0; |
edy05 | 0:5cefadfd5898 | 14 | |
edy05 | 0:5cefadfd5898 | 15 | //FUNCTIONS |
edy05 | 0:5cefadfd5898 | 16 | void print_ppmIn(void); |
edy05 | 2:d172c9963f87 | 17 | void dist(int); |
edy05 | 2:d172c9963f87 | 18 | //HCSR04 sonic(p6, p7); |
edy05 | 2:d172c9963f87 | 19 | //_ppmRegen = new PpmRegen(_interruptPort, _roll, _pitch, _yaw, _throttle, _aux1, _aux2); |
edy05 | 0:5cefadfd5898 | 20 | |
edy05 | 0:5cefadfd5898 | 21 | int main(){ |
edy05 | 2:d172c9963f87 | 22 | |
edy05 | 2:d172c9963f87 | 23 | _ppmRegen = new PpmRegen(_interruptPort); |
edy05 | 2:d172c9963f87 | 24 | _sonic = new HCSR04(p29, p30); |
edy05 | 2:d172c9963f87 | 25 | _groundDistance = new PID(10, 0, 0, 2); |
edy05 | 1:3a5a074b39e0 | 26 | |
edy05 | 2:d172c9963f87 | 27 | serverThread.start(serverRun); |
edy05 | 2:d172c9963f87 | 28 | distanceThread.start(distanceRegulationThread); |
edy05 | 2:d172c9963f87 | 29 | //_sonic.startUpdates(); |
edy05 | 2:d172c9963f87 | 30 | |
edy05 | 2:d172c9963f87 | 31 | wait(1); |
edy05 | 0:5cefadfd5898 | 32 | while(1){ |
edy05 | 1:3a5a074b39e0 | 33 | //print_ppmIn(); |
edy05 | 2:d172c9963f87 | 34 | //_sonic.checkDistance(); |
edy05 | 2:d172c9963f87 | 35 | //distance = _sonic.getCurrentDistance(); |
edy05 | 2:d172c9963f87 | 36 | //distance = sonic.getDistance(); |
edy05 | 2:d172c9963f87 | 37 | //pc.printf("Distance: %d \n\r", distance); |
edy05 | 2:d172c9963f87 | 38 | Thread::wait(100); |
edy05 | 2:d172c9963f87 | 39 | |
edy05 | 0:5cefadfd5898 | 40 | } |
edy05 | 0:5cefadfd5898 | 41 | |
edy05 | 0:5cefadfd5898 | 42 | } |
edy05 | 0:5cefadfd5898 | 43 | |
edy05 | 2:d172c9963f87 | 44 | |
edy05 | 2:d172c9963f87 | 45 | void dist(int distan) |
edy05 | 2:d172c9963f87 | 46 | { |
edy05 | 2:d172c9963f87 | 47 | //pc.printf("Distance: %d \n\r", distan); |
edy05 | 2:d172c9963f87 | 48 | distance = distan; |
edy05 | 2:d172c9963f87 | 49 | } |
edy05 | 2:d172c9963f87 | 50 | |
edy05 | 0:5cefadfd5898 | 51 | void print_ppmIn(){ |
edy05 | 2:d172c9963f87 | 52 | _ppmRegen->getAllChannels(ppmInChannelsValue); |
edy05 | 2:d172c9963f87 | 53 | for(uint8_t channel= 0; channel < CHANNELS; channel++){ |
edy05 | 0:5cefadfd5898 | 54 | pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]); |
edy05 | 0:5cefadfd5898 | 55 | } |
edy05 | 0:5cefadfd5898 | 56 | pc.printf("\n\r"); |
edy05 | 0:5cefadfd5898 | 57 | } |