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:
2017-09-22
Revision:
0:5cefadfd5898
Child:
1:3a5a074b39e0

File content as of revision 0:5cefadfd5898:

#include "mbed.h"
#include "PPMOut.h"
#include "PPMIn.h"
//#include "PPMIn.h"
//#include "ultrasonic.h"
//#include "MyPID.h"


#define AUX1 4
#define PIEZZO_START 0.1
#define PIEZZO_STOP 0.0
#define PPMOUT_CHANNELS 6
#define PPMIN_CHANNELS 8

Serial pc(USBTX, USBRX); // tx, rx
PpmOut ppmOut(p26, PPMOUT_CHANNELS);
PpmIn ppmIn(p21);


uint16_t ppmOutChannelsValue[PPMOUT_CHANNELS];
uint16_t ppmInChannelsValue[PPMIN_CHANNELS];

//FUNCTIONS
void print_ppmOut(void);
void print_ppmIn(void);

int main(){
        
    while(1){
        print_ppmIn();
        print_ppmOut();
        
        if(ppmIn.rise_captured()){
            pc.printf("Rise captured \n\r");
        }
                        
    }
        
}










void print_ppmOut(){
    ppmOut.getAllChannels(ppmOutChannelsValue);
            
    for(uint8_t channel= 0; channel < PPMOUT_CHANNELS; channel++){
        pc.printf("PPM Out Channel %d: %d \n\r", channel, ppmOutChannelsValue[channel]);
    }
}

void print_ppmIn(){
    ppmIn.getAllChannels(ppmInChannelsValue);
    for(uint8_t channel= 0; channel < PPMIN_CHANNELS; channel++){
        pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
    }
    pc.printf("\n\r");
}