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:
- 2:d172c9963f87
- Child:
- 8:b5128641d4cf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/hardware.h Thu Oct 26 15:54:47 2017 +0000 @@ -0,0 +1,28 @@ +#ifndef HARDWARE +#define HARDWARE + +#include "mbed.h" +#include "PpmRegen.h" +#include "PID.h" +#include "hcsr04.h" + +Serial pc(USBTX, USBRX); // tx, rx + +Thread serverThread; +Thread distanceThread; + +InterruptIn* _interruptPort = new InterruptIn(p28); +PwmOut* _roll = new PwmOut(p21); +PwmOut* _pitch = new PwmOut(p22); +PwmOut* _throttle = new PwmOut(p23); +PwmOut* _yaw = new PwmOut(p24); +PwmOut* _aux1 = new PwmOut(p25); +PwmOut* _aux2 = new PwmOut(p26); +PpmRegen* _ppmRegen; + +PID* _groundDistance; + +HCSR04* _sonic; + + +#endif \ No newline at end of file