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
- Revision:
- 9:86a5af9935b1
- Parent:
- 8:b5128641d4cf
- Child:
- 10:bb9c778f8e3e
--- a/hardware.h Thu Oct 26 17:36:52 2017 +0000
+++ b/hardware.h Fri Oct 27 09:09:24 2017 +0000
@@ -25,8 +25,32 @@
HCSR04* _sonic;
+ConfigFile _configFile;
+LocalFileSystem local("local");
+char* _str = new char[1024];
+float _P = 0;
+float _I = 0;
+float _D = 0;
+void loadConfigFile(void){
+ //reading configFile
+ _configFile.read("/local/config.cfg");
+ char value[BUFSIZ];
+ if (_configFile.getValue("P", &value[0], sizeof(value)))
+ _P = atof(value);
+ if (_configFile.getValue("I", &value[0], sizeof(value)))
+ _I = atof(value);
+ if (_configFile.getValue("D", &value[0], sizeof(value)))
+ _D = atof(value);
+
+}
+
+//Converts float to char array
+void ConvertToCharArray(float number)
+{
+ sprintf(_str, "%4.2f", number );
+}
#endif
\ No newline at end of file