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:
10:bb9c778f8e3e
Parent:
9:86a5af9935b1
Child:
11:002927b2675d

File content as of revision 10:bb9c778f8e3e:

#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);
void writeServerSettingsToConfig(void);
void ConvertToCharArray(float number);

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);
        
}

void writeServerSettingsToConfig(void){
    ConvertToCharArray(_P);
    _configFile.setValue("P", _str);    
    ConvertToCharArray(_I);
    _configFile.setValue("I", _str);
    ConvertToCharArray(_D);
    _configFile.setValue("D", _str);
    
    _configFile.write("/local/config.cfg");        
    
}

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


#endif