Eduard Medla
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
Diff: hardware.h
- Branch:
- DistanceRegulation
- Revision:
- 40:0aa1cefe80ab
- Parent:
- 39:93d8aa47f4ce
- Child:
- 41:5fe200d20022
--- a/hardware.h Sun Mar 25 12:57:04 2018 +0000
+++ b/hardware.h Tue May 15 10:34:35 2018 +0000
@@ -18,15 +18,22 @@
PID* _groundDistance;
//RtosTimer *_groudRegulationUpdateTimer;
HCSR04* _sonic;
-uint32_t _frontDistance;
+uint8_t _frontDistance;
+uint8_t _leftDistance;
+uint8_t _rightDistance;
+uint8_t _backDistance;
PpmRegen* _ppmRegen;
ConfigFile _configFile;
LocalFileSystem local("local");
-Thread _serverThread;
-Thread _frontSensorThread;
-Thread *_distanceThread;
+Semaphore _semaphore(1);
+Thread _serverThread;
+Thread _frontSensorThread;
+Thread _leftSensorThread;
+Thread _rightSensorThread;
+Thread _backSensorThread;
+Thread *_distanceThread;
InterruptIn* _interruptPort = new InterruptIn(p28);
@@ -58,6 +65,7 @@
float _newGroundSetPoint;
bool _tempGroundRegulation = false;
bool _goAhead = false;
+bool _frontWall = false;