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@8:b5128641d4cf, 2017-10-26 (annotated)
- Committer:
- edy05
- Date:
- Thu Oct 26 17:36:52 2017 +0000
- Revision:
- 8:b5128641d4cf
- Parent:
- 2:d172c9963f87
- Child:
- 9:86a5af9935b1
ConfigFile tested reading and writing. Its ok.
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 | 2:d172c9963f87 | 28 | |
edy05 | 8:b5128641d4cf | 29 | |
edy05 | 8:b5128641d4cf | 30 | |
edy05 | 8:b5128641d4cf | 31 | |
edy05 | 2:d172c9963f87 | 32 | #endif |