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:
- 41:5fe200d20022
- Parent:
- 40:0aa1cefe80ab
--- a/hardware.h Tue May 15 10:34:35 2018 +0000
+++ b/hardware.h Tue May 22 19:43:09 2018 +0000
@@ -36,7 +36,7 @@
Thread *_distanceThread;
-InterruptIn* _interruptPort = new InterruptIn(p28);
+InterruptIn* _interruptPin = new InterruptIn(p28);
PwmOut* _roll = new PwmOut(p21);
PwmOut* _pitch = new PwmOut(p22);
PwmOut* _throttle = new PwmOut(p23);
@@ -53,18 +53,19 @@
float _P = 0;
float _I = 0;
float _D = 0;
-float _groundSetPoint = 0;
-float _bias = 0;
-float _groundPidMinOutput = 0;
-float _groundPidMaxOutput = 0;
+int _groundSetPoint = 0;
+int _bias = 0;
+int _groundPidMinOutput = 0;
+int _groundPidMaxOutput = 0;
bool _groundRegulation = false;
// Temporary values for Server to filter noise
float _newP;
float _newI;
float _newD;
-float _newGroundSetPoint;
+int _newGroundSetPoint;
bool _tempGroundRegulation = false;
bool _goAhead = false;
+bool _backWall = true;
bool _frontWall = false;
@@ -72,6 +73,7 @@
+
void loadConfigFile(void){
//reading configFile
_configFile.read("/local/config.cfg");
@@ -133,7 +135,7 @@
//Converts float to char array
void ConvertToCharArray(float number)
{
- sprintf(_str, "%3.6f", number );
+ sprintf(_str, "%3.2f", number );
}
//Converts integer to char array