David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

main.cpp@23:04338a5ef404, 2016-04-12 (annotated)

Committer:
ivo_david_michelle
Date:
Tue Apr 12 22:54:16 2016 +0000
Revision:
23:04338a5ef404
Parent:
22:92401a4fec13
Child:
24:e220fbb70ded
reading data from imu again

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ivo_david_michelle 0:4c04e4fd1310 1 #include "mbed.h"
ivo_david_michelle 14:64b06476d943 2 #include "rtos.h"
ivo_david_michelle 1:b87e95907a18 3 #define _MBED_
ivo_david_michelle 13:291ba30c7806 4 //#include "controller.h"
ivo_david_michelle 3:828e82089564 5 #include "sensor.h"
ivo_david_michelle 7:f3f94eadc5b5 6 #include "quadcopter.h"
ivo_david_michelle 7:f3f94eadc5b5 7
ivo_david_michelle 0:4c04e4fd1310 8 Serial pc(USBTX, USBRX);
ivo_david_michelle 15:90e07946186f 9 MRF24J40 mrf(p11, p12, p13, p14, p21);
ivo_david_michelle 15:90e07946186f 10 Quadcopter myQuadcopter(&pc, &mrf); // instantiate Quadcopter object
ivo_david_michelle 7:f3f94eadc5b5 11
ivo_david_michelle 6:6f3ffd97d808 12 // pwm outputs for the 4 motors (motor 1 points into x direction, 2 into y direction, 3 -x direction, -y direction
ivo_david_michelle 15:90e07946186f 13 PwmOut motor_1(p23);
ivo_david_michelle 15:90e07946186f 14 PwmOut motor_2(p24);
ivo_david_michelle 15:90e07946186f 15 PwmOut motor_3(p25);
ivo_david_michelle 15:90e07946186f 16 PwmOut motor_4(p26);
ivo_david_michelle 15:90e07946186f 17
ivo_david_michelle 22:92401a4fec13 18 // to read the battery voltage
ivo_david_michelle 22:92401a4fec13 19 AnalogIn battery(p20);
ivo_david_michelle 4:3040d0f9e8c6 20
ivo_david_michelle 15:90e07946186f 21 void controller_thread(void const *args)
ivo_david_michelle 15:90e07946186f 22 {
ivo_david_michelle 15:90e07946186f 23 while(true) {
ivo_david_michelle 23:04338a5ef404 24 myQuadcopter.readSensorValues();
ivo_david_michelle 19:39c144ca2a2f 25
ivo_david_michelle 15:90e07946186f 26 myQuadcopter.controller();
ivo_david_michelle 18:a00d6b065c6b 27 motors motorsPwm=myQuadcopter.getPwm();
ivo_david_michelle 18:a00d6b065c6b 28
ivo_david_michelle 21:336faf452989 29 motor_1=motorsPwm.m1;
ivo_david_michelle 21:336faf452989 30 motor_2=motorsPwm.m2;
ivo_david_michelle 21:336faf452989 31 motor_3=motorsPwm.m3;
ivo_david_michelle 18:a00d6b065c6b 32 motor_4=motorsPwm.m4;
ivo_david_michelle 22:92401a4fec13 33
ivo_david_michelle 22:92401a4fec13 34 // pc.printf("m1: %f m2: %f m3: %f m4: %f \n\r", motorsPwm.m1, motorsPwm.m2, motorsPwm.m3, motorsPwm.m4);
ivo_david_michelle 18:a00d6b065c6b 35
ivo_david_michelle 15:90e07946186f 36 Thread::wait(10);
ivo_david_michelle 15:90e07946186f 37 }
ivo_david_michelle 14:64b06476d943 38 }
ivo_david_michelle 9:f1bd96708a21 39
ivo_david_michelle 15:90e07946186f 40 void rc_thread(void const *args)
ivo_david_michelle 15:90e07946186f 41 {
ivo_david_michelle 15:90e07946186f 42 while(true) {
ivo_david_michelle 15:90e07946186f 43 myQuadcopter.readRc();
ivo_david_michelle 18:a00d6b065c6b 44 Thread::wait(50); // wait for some number of miliseconds
ivo_david_michelle 15:90e07946186f 45 }
ivo_david_michelle 14:64b06476d943 46 }
ivo_david_michelle 14:64b06476d943 47
ivo_david_michelle 22:92401a4fec13 48 void battery_thread(void const *args)
ivo_david_michelle 22:92401a4fec13 49 {
ivo_david_michelle 22:92401a4fec13 50 float threshold_voltage = 13.0; // desired lowest battery voltage
ivo_david_michelle 22:92401a4fec13 51 float max_voltage = 14.8; // max voltage level of battery
ivo_david_michelle 22:92401a4fec13 52 float saturating_voltage = 18.38; // voltage at which ADC == 1
ivo_david_michelle 22:92401a4fec13 53 float max_adc = 0.80522; // when battery is at 14.8V
ivo_david_michelle 22:92401a4fec13 54 float threshold_adc = max_adc * threshold_voltage / max_voltage;
ivo_david_michelle 22:92401a4fec13 55 while(true) {
ivo_david_michelle 22:92401a4fec13 56 if (battery.read() < threshold_adc) {
ivo_david_michelle 22:92401a4fec13 57 printf("low battery! %f\r\n", battery.read() * saturating_voltage);
ivo_david_michelle 22:92401a4fec13 58 }
ivo_david_michelle 22:92401a4fec13 59 Thread::wait(1000); // wait for some number of miliseconds
ivo_david_michelle 22:92401a4fec13 60 }
ivo_david_michelle 22:92401a4fec13 61 }
ivo_david_michelle 22:92401a4fec13 62
ivo_david_michelle 22:92401a4fec13 63
ivo_david_michelle 14:64b06476d943 64
ivo_david_michelle 15:90e07946186f 65 int main()
ivo_david_michelle 15:90e07946186f 66 {
ivo_david_michelle 14:64b06476d943 67 // get desired values from joystick (to be implemented)
ivo_david_michelle 14:64b06476d943 68 // myQuadcopter.setDes(...)
ivo_david_michelle 10:e7d1801e966a 69
ivo_david_michelle 22:92401a4fec13 70 motor_1.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 71 motor_2.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 72 motor_3.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 73 motor_4.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 74
ivo_david_michelle 4:3040d0f9e8c6 75 // startup procedure
ivo_david_michelle 4:3040d0f9e8c6 76 pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r");
ivo_david_michelle 4:3040d0f9e8c6 77 char a= pc.getc();
ivo_david_michelle 4:3040d0f9e8c6 78 if (a!='s') {
ivo_david_michelle 4:3040d0f9e8c6 79 pc.printf("Aborting");
ivo_david_michelle 4:3040d0f9e8c6 80 return 0;
ivo_david_michelle 4:3040d0f9e8c6 81 };
ivo_david_michelle 13:291ba30c7806 82
ivo_david_michelle 12:422963993df5 83 // Duty cycle at beginning must be 50%
ivo_david_michelle 4:3040d0f9e8c6 84 pc.printf("Starting up ESCs\n\r");
ivo_david_michelle 22:92401a4fec13 85 motor_1 = 0.1;
ivo_david_michelle 22:92401a4fec13 86 motor_2 = 0.1;
ivo_david_michelle 22:92401a4fec13 87 motor_3 = 0.1;
ivo_david_michelle 22:92401a4fec13 88 motor_4 = 0.1;
ivo_david_michelle 4:3040d0f9e8c6 89
ivo_david_michelle 4:3040d0f9e8c6 90 pc.printf("Type 'c' to enter control loop, or anything else to abort.\n\r");
ivo_david_michelle 14:64b06476d943 91 char b = pc.getc();
ivo_david_michelle 4:3040d0f9e8c6 92 if (b!='c') {
ivo_david_michelle 4:3040d0f9e8c6 93 pc.printf("Aborting");
ivo_david_michelle 4:3040d0f9e8c6 94 return 0;
ivo_david_michelle 4:3040d0f9e8c6 95 };
ivo_david_michelle 15:90e07946186f 96
ivo_david_michelle 22:92401a4fec13 97 /* pc.printf("Outputting duty cycle specified below now press all but b to abort.\n\r");
ivo_david_michelle 22:92401a4fec13 98 motor_1 = 0.07;
ivo_david_michelle 22:92401a4fec13 99
ivo_david_michelle 22:92401a4fec13 100
ivo_david_michelle 22:92401a4fec13 101 char c = pc.getc();
ivo_david_michelle 22:92401a4fec13 102 if (c!='c') {
ivo_david_michelle 22:92401a4fec13 103 pc.printf("Aborting");
ivo_david_michelle 22:92401a4fec13 104 return 0;
ivo_david_michelle 22:92401a4fec13 105 };
ivo_david_michelle 22:92401a4fec13 106 */
ivo_david_michelle 22:92401a4fec13 107
ivo_david_michelle 23:04338a5ef404 108 Thread thread(controller_thread);
ivo_david_michelle 23:04338a5ef404 109 //Thread threadR(rc_thread);
ivo_david_michelle 23:04338a5ef404 110 //Thread battery(battery_thread);
ivo_david_michelle 14:64b06476d943 111
ivo_david_michelle 4:3040d0f9e8c6 112 pc.printf("Entering control loop\n\r");
ivo_david_michelle 4:3040d0f9e8c6 113
ivo_david_michelle 4:3040d0f9e8c6 114 while (1) {
ivo_david_michelle 19:39c144ca2a2f 115 //myQuadcopter.readSensorValues();
ivo_david_michelle 18:a00d6b065c6b 116 //pc.printf("%lld: %f,%f,%f,%f\r\n", myQuadcopter.id, myQuadcopter.thrust, myQuadcopter.yaw, myQuadcopter.pitch, myQuadcopter.roll);
ivo_david_michelle 11:5c54826d23a7 117
ivo_david_michelle 15:90e07946186f 118 // myQuadcopter.controller();
ivo_david_michelle 13:291ba30c7806 119
ivo_david_michelle 17:96d0c72e413e 120 // wait(0.01);
ivo_david_michelle 1:b87e95907a18 121
ivo_david_michelle 4:3040d0f9e8c6 122 // Set duty cycle
ivo_david_michelle 22:92401a4fec13 123 // motors motorsPwm=myQuadcopter.getPwm();
ivo_david_michelle 5:f007542f1dab 124
ivo_david_michelle 18:a00d6b065c6b 125 //motor_2=motorsPwm.m2;
ivo_david_michelle 18:a00d6b065c6b 126 //motor_4=motorsPwm.m4;
ivo_david_michelle 15:90e07946186f 127
ivo_david_michelle 14:64b06476d943 128 //pc.printf("F: %f M_x: %f M_y: %f M_z: %f\n\r", F, M_x, M_y, M_z);
ivo_david_michelle 15:90e07946186f 129 // pc.printf("m1: %f m2: %f \n\r", motorsPwm.m2, motorsPwm.m4);
ivo_david_michelle 11:5c54826d23a7 130 //pc.printf("M_x: %f\tM_y: %f\tM_z: %f\tF: %f\n\r", result.M_x, result.M_y, result.M_z, result.F);
ivo_david_michelle 0:4c04e4fd1310 131 }
ivo_david_michelle 0:4c04e4fd1310 132 }