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@3:6c9f80f5e865, 2017-10-26 (annotated)

Committer:
edy05
Date:
Thu Oct 26 16:07:21 2017 +0000
Revision:
3:6c9f80f5e865
Parent:
2:d172c9963f87
Child:
6:c81abfa61bce
Child:
8:b5128641d4cf
Cleaning

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 0:5cefadfd5898 1 #include "mbed.h"
edy05 2:d172c9963f87 2 #include "rtos.h"
edy05 2:d172c9963f87 3 #include "hardware.h"
edy05 2:d172c9963f87 4 #include "Server.h"
edy05 1:3a5a074b39e0 5 #include "PpmRegen.h"
edy05 2:d172c9963f87 6 #include "distanceRegulation.h"
edy05 2:d172c9963f87 7 #include "hcsr04.h"
edy05 2:d172c9963f87 8 #include "PID.h"
edy05 0:5cefadfd5898 9
edy05 0:5cefadfd5898 10
edy05 2:d172c9963f87 11 //VARIABLES
edy05 2:d172c9963f87 12 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 13 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 14
edy05 0:5cefadfd5898 15 //FUNCTIONS
edy05 0:5cefadfd5898 16 void print_ppmIn(void);
edy05 0:5cefadfd5898 17
edy05 0:5cefadfd5898 18 int main(){
edy05 2:d172c9963f87 19
edy05 3:6c9f80f5e865 20 // INITIALIZE CLASSES
edy05 2:d172c9963f87 21 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 22 _sonic = new HCSR04(p29, p30);
edy05 2:d172c9963f87 23 _groundDistance = new PID(10, 0, 0, 2);
edy05 1:3a5a074b39e0 24
edy05 3:6c9f80f5e865 25 // STARTING THREADS
edy05 2:d172c9963f87 26 serverThread.start(serverRun);
edy05 2:d172c9963f87 27 distanceThread.start(distanceRegulationThread);
edy05 2:d172c9963f87 28
edy05 2:d172c9963f87 29 wait(1);
edy05 3:6c9f80f5e865 30
edy05 0:5cefadfd5898 31 while(1){
edy05 3:6c9f80f5e865 32 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 33 }
edy05 0:5cefadfd5898 34
edy05 0:5cefadfd5898 35 }
edy05 0:5cefadfd5898 36
edy05 2:d172c9963f87 37
edy05 0:5cefadfd5898 38 void print_ppmIn(){
edy05 2:d172c9963f87 39 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 40 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 41 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 42 }
edy05 0:5cefadfd5898 43 pc.printf("\n\r");
edy05 0:5cefadfd5898 44 }