Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

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Dependencies:   ConfigFile HCSR04 PID PPM2 mbed-rtos mbed

Files at this revision

API Documentation at this revision

Revision 3:6c9f80f5e865, committed 2017-10-26

Comitter:
edy05
Date:
Thu Oct 26 16:07:21 2017 +0000
Parent:
2:d172c9963f87
Child:
6:c81abfa61bce
Child:
7:fb972a5f8a57
Commit message:
Cleaning

Changed in this revision

distanceRegulation.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/distanceRegulation.h	Thu Oct 26 15:54:47 2017 +0000
+++ b/distanceRegulation.h	Thu Oct 26 16:07:21 2017 +0000
@@ -4,15 +4,12 @@
 #include "definitions.h"
 
 void distanceRegulationThread(){
-    //_ppmRegen = new PpmRegen(_interruptPort); 
-    //HCSR04 sonic(p6, p7);
     uint16_t channels[CHANNELS];
     int distance=0;
     float groundDistancePidValue;
     int newThrottleValue;
     
     //setup PID
-    //_groundDistance = new PID(1, 1, 1, 2);
     _groundDistance->setInputLimits(0, 500);
     _groundDistance->setOutputLimits(-100, 100);
     _groundDistance->setMode(AUTO_MODE);
@@ -30,7 +27,6 @@
         _groundDistance->setSetPoint(30);
         groundDistancePidValue = _groundDistance->compute();
         //Update PWM values
-        //channels[THROTTLE] += groundDistancePidValue;
         newThrottleValue = channels[THROTTLE] + groundDistancePidValue;
         
         pc.printf("Sonic distance: %d \n\r", distance);
@@ -38,9 +34,6 @@
         pc.printf("channel throttle original value: %d \n\r", channels[THROTTLE]);
         pc.printf("channel throttle final value: %d \n\r", newThrottleValue);
         
-        
-        
-        
         // Generate PWM
         _roll->pulsewidth_us(    channels[ROLL]);
         _pitch->pulsewidth_us(   channels[PITCH]);

--- a/main.cpp	Thu Oct 26 15:54:47 2017 +0000
+++ b/main.cpp	Thu Oct 26 16:07:21 2017 +0000
@@ -14,40 +14,27 @@
 
 //FUNCTIONS
 void print_ppmIn(void);
-void dist(int);
-//HCSR04 sonic(p6, p7);
-//_ppmRegen = new PpmRegen(_interruptPort, _roll, _pitch, _yaw, _throttle, _aux1, _aux2); 
 
 int main(){
     
+    // INITIALIZE CLASSES
     _ppmRegen = new PpmRegen(_interruptPort);
     _sonic = new HCSR04(p29, p30);
     _groundDistance = new PID(10, 0, 0, 2);
     
+    // STARTING THREADS
     serverThread.start(serverRun);
     distanceThread.start(distanceRegulationThread);
-    //_sonic.startUpdates();
     
     wait(1);
+    
     while(1){
-        //print_ppmIn();
-        //_sonic.checkDistance();
-        //distance = _sonic.getCurrentDistance();
-        //distance = sonic.getDistance();
-        //pc.printf("Distance: %d \n\r", distance);
-        Thread::wait(100);
-        
+        Thread::wait(osWaitForever);
     }
         
 }
 
 
-void dist(int distan)
-{
-    //pc.printf("Distance: %d \n\r", distan);
-    distance = distan;
-}
-
 void print_ppmIn(){
     _ppmRegen->getAllChannels(ppmInChannelsValue);
     for(uint8_t channel= 0; channel < CHANNELS; channel++){