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@9:86a5af9935b1, 2017-10-27 (annotated)
- Committer:
- edy05
- Date:
- Fri Oct 27 09:09:24 2017 +0000
- Revision:
- 9:86a5af9935b1
- Parent:
- 8:b5128641d4cf
- Child:
- 10:bb9c778f8e3e
Server - Reading PID values from configFile
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
edy05 | 2:d172c9963f87 | 1 | #ifndef HARDWARE |
edy05 | 2:d172c9963f87 | 2 | #define HARDWARE |
edy05 | 2:d172c9963f87 | 3 | |
edy05 | 2:d172c9963f87 | 4 | #include "mbed.h" |
edy05 | 2:d172c9963f87 | 5 | #include "PpmRegen.h" |
edy05 | 2:d172c9963f87 | 6 | #include "PID.h" |
edy05 | 2:d172c9963f87 | 7 | #include "hcsr04.h" |
edy05 | 8:b5128641d4cf | 8 | #include "ConfigFile.h" |
edy05 | 2:d172c9963f87 | 9 | |
edy05 | 2:d172c9963f87 | 10 | Serial pc(USBTX, USBRX); // tx, rx |
edy05 | 2:d172c9963f87 | 11 | |
edy05 | 2:d172c9963f87 | 12 | Thread serverThread; |
edy05 | 2:d172c9963f87 | 13 | Thread distanceThread; |
edy05 | 2:d172c9963f87 | 14 | |
edy05 | 2:d172c9963f87 | 15 | InterruptIn* _interruptPort = new InterruptIn(p28); |
edy05 | 2:d172c9963f87 | 16 | PwmOut* _roll = new PwmOut(p21); |
edy05 | 2:d172c9963f87 | 17 | PwmOut* _pitch = new PwmOut(p22); |
edy05 | 2:d172c9963f87 | 18 | PwmOut* _throttle = new PwmOut(p23); |
edy05 | 2:d172c9963f87 | 19 | PwmOut* _yaw = new PwmOut(p24); |
edy05 | 2:d172c9963f87 | 20 | PwmOut* _aux1 = new PwmOut(p25); |
edy05 | 2:d172c9963f87 | 21 | PwmOut* _aux2 = new PwmOut(p26); |
edy05 | 2:d172c9963f87 | 22 | PpmRegen* _ppmRegen; |
edy05 | 2:d172c9963f87 | 23 | |
edy05 | 2:d172c9963f87 | 24 | PID* _groundDistance; |
edy05 | 2:d172c9963f87 | 25 | |
edy05 | 2:d172c9963f87 | 26 | HCSR04* _sonic; |
edy05 | 2:d172c9963f87 | 27 | |
edy05 | 9:86a5af9935b1 | 28 | ConfigFile _configFile; |
edy05 | 9:86a5af9935b1 | 29 | LocalFileSystem local("local"); |
edy05 | 9:86a5af9935b1 | 30 | char* _str = new char[1024]; |
edy05 | 2:d172c9963f87 | 31 | |
edy05 | 9:86a5af9935b1 | 32 | float _P = 0; |
edy05 | 9:86a5af9935b1 | 33 | float _I = 0; |
edy05 | 9:86a5af9935b1 | 34 | float _D = 0; |
edy05 | 8:b5128641d4cf | 35 | |
edy05 | 9:86a5af9935b1 | 36 | void loadConfigFile(void){ |
edy05 | 9:86a5af9935b1 | 37 | //reading configFile |
edy05 | 9:86a5af9935b1 | 38 | _configFile.read("/local/config.cfg"); |
edy05 | 9:86a5af9935b1 | 39 | char value[BUFSIZ]; |
edy05 | 9:86a5af9935b1 | 40 | if (_configFile.getValue("P", &value[0], sizeof(value))) |
edy05 | 9:86a5af9935b1 | 41 | _P = atof(value); |
edy05 | 9:86a5af9935b1 | 42 | if (_configFile.getValue("I", &value[0], sizeof(value))) |
edy05 | 9:86a5af9935b1 | 43 | _I = atof(value); |
edy05 | 9:86a5af9935b1 | 44 | if (_configFile.getValue("D", &value[0], sizeof(value))) |
edy05 | 9:86a5af9935b1 | 45 | _D = atof(value); |
edy05 | 9:86a5af9935b1 | 46 | |
edy05 | 9:86a5af9935b1 | 47 | } |
edy05 | 9:86a5af9935b1 | 48 | |
edy05 | 9:86a5af9935b1 | 49 | //Converts float to char array |
edy05 | 9:86a5af9935b1 | 50 | void ConvertToCharArray(float number) |
edy05 | 9:86a5af9935b1 | 51 | { |
edy05 | 9:86a5af9935b1 | 52 | sprintf(_str, "%4.2f", number ); |
edy05 | 9:86a5af9935b1 | 53 | } |
edy05 | 8:b5128641d4cf | 54 | |
edy05 | 8:b5128641d4cf | 55 | |
edy05 | 2:d172c9963f87 | 56 | #endif |