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
Diff: hardware.h
- Revision:
- 9:86a5af9935b1
- Parent:
- 8:b5128641d4cf
- Child:
- 10:bb9c778f8e3e
diff -r b5128641d4cf -r 86a5af9935b1 hardware.h --- a/hardware.h Thu Oct 26 17:36:52 2017 +0000 +++ b/hardware.h Fri Oct 27 09:09:24 2017 +0000 @@ -25,8 +25,32 @@ HCSR04* _sonic; +ConfigFile _configFile; +LocalFileSystem local("local"); +char* _str = new char[1024]; +float _P = 0; +float _I = 0; +float _D = 0; +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); + +} + +//Converts float to char array +void ConvertToCharArray(float number) +{ + sprintf(_str, "%4.2f", number ); +} #endif \ No newline at end of file