Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

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:
2017-10-26
Revision:
5:1ad4ca4ee9d8
Parent:
4:c909ed06dc1f
Child:
6:c81abfa61bce

File content as of revision 5:1ad4ca4ee9d8:

#include "mbed.h"
#include "rtos.h"
#include "hardware.h"
#include "Server.h"
#include "PpmRegen.h"
#include "distanceRegulation.h"
#include "hcsr04.h"
#include "PID.h"

//VARIABLES
uint16_t ppmInChannelsValue[CHANNELS];
volatile uint16_t distance = 0;

//FUNCTIONS
void print_ppmIn(void);
void dist(int);
//HCSR04 sonic(p6, p7);
//_ppmRegen = new PpmRegen(_interruptPort, _roll, _pitch, _yaw, _throttle, _aux1, _aux2); 

int main(){
    
    _ppmRegen = new PpmRegen(_interruptPort);
    _sonic = new HCSR04(p29, p30);
    _groundDistance = new PID(10, 0, 0, 2);
    
    serverThread.start(serverRun);
    distanceThread.start(distanceRegulationThread);
    //_sonic.startUpdates();
    
    wait(1);
    while(1){
        //print_ppmIn();
        //_sonic.checkDistance();
        //distance = _sonic.getCurrentDistance();
        //distance = sonic.getDistance();
        //pc.printf("Distance: %d \n\r", distance);
        Thread::wait(100);
        
    }
        
}


void dist(int distan)
{
    //pc.printf("Distance: %d \n\r", distan);
    distance = distan;
}

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");
}