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

hardware.h

Committer:
edy05
Date:
2017-10-27
Revision:
9:86a5af9935b1
Parent:
8:b5128641d4cf
Child:
10:bb9c778f8e3e

File content as of revision 9:86a5af9935b1:

#ifndef HARDWARE
#define HARDWARE

#include "mbed.h"
#include "PpmRegen.h"
#include "PID.h"
#include "hcsr04.h"
#include "ConfigFile.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;

ConfigFile _configFile;
LocalFileSystem local("local");
char*  _str = new char[1024];

float _P = 0;
float _I = 0;
float _D = 0;

void loadConfigFile(void){
    //reading configFile
    _configFile.read("/local/config.cfg");
    char value[BUFSIZ];
    if (_configFile.getValue("P", &value[0], sizeof(value)))
        _P = atof(value);
    if (_configFile.getValue("I", &value[0], sizeof(value)))
        _I = atof(value);
    if (_configFile.getValue("D", &value[0], sizeof(value)))
        _D = atof(value);
        
}

//Converts float to char array
void ConvertToCharArray(float number)
{
    sprintf(_str, "%4.2f", number );  
}


#endif