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
- Committer:
- edy05
- Date:
- 2017-12-01
- Branch:
- DistanceRegulation
- Revision:
- 26:11539036f0fb
- Parent:
- 25:69190c222dbf
- Child:
- 27:5956d5e3ff63
File content as of revision 26:11539036f0fb:
#include "mbed.h" #include "rtos.h" #include "hardware.h" #include "Server.h" #include "PpmRegen.h" #include "distanceRegulation.h" #include "hcsr04.h" #include "PID.h" #include "ConfigFile.h" //TEMP //VARIABLES uint16_t ppmInChannelsValue[CHANNELS]; volatile uint16_t distance = 0; //FUNCTIONS void print_ppmIn(void); //RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic, (void *)0); int main(){ pc.baud(115200); // INITIALIZE CLASSES _ppmRegen = new PpmRegen(_interruptPort); _sonic = new HCSR04(p29, p30); _groundDistance = new PID(0, 0, 0, 0.002); // STARTING THREADS serverThread.start(serverRun); //_distanceThread = new Thread(distanceRegulationThread); //_distanceThread->set_priority(osPriorityRealtime); //distanceRegulation.start(2); _distanceThread.start(distanceRegulationTask); //wait(1); while(1){ Thread::wait(osWaitForever); } } void print_ppmIn(){ _ppmRegen->getAllChannels(ppmInChannelsValue); for(uint8_t channel= 0; channel < CHANNELS; channel++){ pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]); } pc.printf("\n\r"); }