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:
- 2018-02-04
- Branch:
- DistanceRegulation
- Revision:
- 31:5f1737e480f3
- Parent:
- 27:5956d5e3ff63
- Child:
- 32:c729e6da7f9a
File content as of revision 31:5f1737e480f3:
#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, 0.005); //setup PID loadConfigFile(); // to show values in web browser after first load _tempP = _P; _tempI = _I; _tempD = _D; _groundDistance->setInputLimits(0, 300); _groundDistance->setMode(AUTO_MODE); _groundDistance->setTunings(_P, _I, _D); _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput); _groundDistance->setBias(_bias); // STARTING THREADS serverThread.start(serverRun); serverThread.set_priority(osPriorityLow); _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"); }