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@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?

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 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 }