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:
8:b5128641d4cf
Parent:
3:6c9f80f5e865
Child:
9:86a5af9935b1

File content as of revision 8:b5128641d4cf:

#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

ConfigFile _configFile;
LocalFileSystem local("local");

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

//FUNCTIONS
void print_ppmIn(void);

int main(){
    
    // INITIALIZE CLASSES
    _ppmRegen = new PpmRegen(_interruptPort);
    _sonic = new HCSR04(p29, p30);
    _groundDistance = new PID(10, 0, 0, 2);
    
    // STARTING THREADS
    serverThread.start(serverRun);
    distanceThread.start(distanceRegulationThread);
    
    wait(1);
    
    while(1){
        
        /*
        // writing to configFile
        _configFile.setValue("ahoj", "edo");
        _configFile.write("/local/config.cfg");
        */
        
        //reading configFile
        _configFile.read("/local/config.cfg");
        char* key = "ahoj";
        char value[BUFSIZ];
        if (_configFile.getValue(key, &value[0], sizeof(value)))
            pc.printf("'%s'='%s'\n", key, value);
        
        
        wait(2);
        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");
}