David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

main.cpp@28:61f7356325c3, 2016-04-15 (annotated)

Committer:
ivo_david_michelle
Date:
Fri Apr 15 19:08:56 2016 +0000
Revision:
28:61f7356325c3
Parent:
27:11116aa69f32
Child:
29:ae765492fa8b
before possible refactor

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 26:7f50323c0c0d 20 DigitalOut batteryLed(LED1);
ivo_david_michelle 26:7f50323c0c0d 21
ivo_david_michelle 28:61f7356325c3 22 int emergencyOff = 0;
ivo_david_michelle 4:3040d0f9e8c6 23
ivo_david_michelle 15:90e07946186f 24 void controller_thread(void const *args)
ivo_david_michelle 15:90e07946186f 25 {
ivo_david_michelle 26:7f50323c0c0d 26 while(emergencyOff != 1) {
ivo_david_michelle 23:04338a5ef404 27 myQuadcopter.readSensorValues();
ivo_david_michelle 19:39c144ca2a2f 28
ivo_david_michelle 15:90e07946186f 29 myQuadcopter.controller();
ivo_david_michelle 28:61f7356325c3 30 motors motorsPwm = myQuadcopter.getPwm();
ivo_david_michelle 18:a00d6b065c6b 31
ivo_david_michelle 28:61f7356325c3 32 motor_1 = motorsPwm.m1;
ivo_david_michelle 28:61f7356325c3 33 motor_2 = motorsPwm.m2;
ivo_david_michelle 28:61f7356325c3 34 motor_3 = motorsPwm.m3;
ivo_david_michelle 28:61f7356325c3 35 motor_4 = motorsPwm.m4;
ivo_david_michelle 26:7f50323c0c0d 36
ivo_david_michelle 22:92401a4fec13 37 // 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 38
ivo_david_michelle 15:90e07946186f 39 Thread::wait(10);
ivo_david_michelle 15:90e07946186f 40 }
ivo_david_michelle 14:64b06476d943 41 }
ivo_david_michelle 9:f1bd96708a21 42
ivo_david_michelle 15:90e07946186f 43 void rc_thread(void const *args)
ivo_david_michelle 15:90e07946186f 44 {
ivo_david_michelle 15:90e07946186f 45 while(true) {
ivo_david_michelle 15:90e07946186f 46 myQuadcopter.readRc();
ivo_david_michelle 18:a00d6b065c6b 47 Thread::wait(50); // wait for some number of miliseconds
ivo_david_michelle 15:90e07946186f 48 }
ivo_david_michelle 14:64b06476d943 49 }
ivo_david_michelle 14:64b06476d943 50
ivo_david_michelle 22:92401a4fec13 51 void battery_thread(void const *args)
ivo_david_michelle 22:92401a4fec13 52 {
ivo_david_michelle 22:92401a4fec13 53 float threshold_voltage = 13.0; // desired lowest battery voltage
ivo_david_michelle 26:7f50323c0c0d 54 float emergencyVoltage = 12.5; // switch off motors below it
ivo_david_michelle 22:92401a4fec13 55 float max_voltage = 14.8; // max voltage level of battery
ivo_david_michelle 22:92401a4fec13 56 float saturating_voltage = 18.38; // voltage at which ADC == 1
ivo_david_michelle 22:92401a4fec13 57 float max_adc = 0.80522; // when battery is at 14.8V
ivo_david_michelle 22:92401a4fec13 58 float threshold_adc = max_adc * threshold_voltage / max_voltage;
ivo_david_michelle 26:7f50323c0c0d 59 float emergency_adc = max_adc * emergencyVoltage / max_voltage;
ivo_david_michelle 26:7f50323c0c0d 60
ivo_david_michelle 22:92401a4fec13 61 while(true) {
ivo_david_michelle 22:92401a4fec13 62 if (battery.read() < threshold_adc) {
ivo_david_michelle 22:92401a4fec13 63 printf("low battery! %f\r\n", battery.read() * saturating_voltage);
ivo_david_michelle 26:7f50323c0c0d 64 batteryLed=1;
ivo_david_michelle 26:7f50323c0c0d 65 if (battery.read() < emergency_adc) {
ivo_david_michelle 26:7f50323c0c0d 66 emergencyOff=1;
ivo_david_michelle 26:7f50323c0c0d 67 motor_1=0.1;
ivo_david_michelle 26:7f50323c0c0d 68 motor_2=0.1;
ivo_david_michelle 26:7f50323c0c0d 69 motor_3=0.1;
ivo_david_michelle 26:7f50323c0c0d 70 motor_4=0.1;
ivo_david_michelle 26:7f50323c0c0d 71 }
ivo_david_michelle 22:92401a4fec13 72 }
ivo_david_michelle 22:92401a4fec13 73 Thread::wait(1000); // wait for some number of miliseconds
ivo_david_michelle 22:92401a4fec13 74 }
ivo_david_michelle 22:92401a4fec13 75 }
ivo_david_michelle 22:92401a4fec13 76
ivo_david_michelle 22:92401a4fec13 77
ivo_david_michelle 14:64b06476d943 78
ivo_david_michelle 15:90e07946186f 79 int main()
ivo_david_michelle 15:90e07946186f 80 {
ivo_david_michelle 14:64b06476d943 81 // get desired values from joystick (to be implemented)
ivo_david_michelle 14:64b06476d943 82 // myQuadcopter.setDes(...)
ivo_david_michelle 10:e7d1801e966a 83
ivo_david_michelle 22:92401a4fec13 84 motor_1.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 85 motor_2.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 86 motor_3.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 87 motor_4.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 88
ivo_david_michelle 27:11116aa69f32 89 Thread threadR(rc_thread);
ivo_david_michelle 27:11116aa69f32 90 double forceThreshold = -0.3;
ivo_david_michelle 27:11116aa69f32 91 double forceRc = myQuadcopter.getForce();
ivo_david_michelle 28:61f7356325c3 92
ivo_david_michelle 28:61f7356325c3 93 // pc.printf("forceRc %f\n\r", forceRc);
ivo_david_michelle 28:61f7356325c3 94 while (forceRc > forceThreshold) { // wait until Joystick is in starting position
ivo_david_michelle 27:11116aa69f32 95 forceRc = myQuadcopter.getForce();
ivo_david_michelle 28:61f7356325c3 96 wait(1);
ivo_david_michelle 28:61f7356325c3 97 // pc.printf("forceRc %f\n\r", forceRc);
ivo_david_michelle 28:61f7356325c3 98
ivo_david_michelle 27:11116aa69f32 99 }
ivo_david_michelle 27:11116aa69f32 100
ivo_david_michelle 22:92401a4fec13 101 motor_1 = 0.1;
ivo_david_michelle 22:92401a4fec13 102 motor_2 = 0.1;
ivo_david_michelle 22:92401a4fec13 103 motor_3 = 0.1;
ivo_david_michelle 22:92401a4fec13 104 motor_4 = 0.1;
ivo_david_michelle 4:3040d0f9e8c6 105
ivo_david_michelle 28:61f7356325c3 106 wait(2); // hold startup duty cycle for 2 seconds
ivo_david_michelle 22:92401a4fec13 107
ivo_david_michelle 22:92401a4fec13 108
ivo_david_michelle 25:d44610851105 109 // TODO assign priorities to threads, test if it really works as we expect
ivo_david_michelle 28:61f7356325c3 110 // Thread battery(battery_thread);
ivo_david_michelle 23:04338a5ef404 111 Thread thread(controller_thread);
ivo_david_michelle 14:64b06476d943 112
ivo_david_michelle 27:11116aa69f32 113 //pc.printf("Entering control loop\n\r");
ivo_david_michelle 4:3040d0f9e8c6 114
ivo_david_michelle 4:3040d0f9e8c6 115 while (1) {
ivo_david_michelle 15:90e07946186f 116
ivo_david_michelle 14:64b06476d943 117 //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 118 // pc.printf("m1: %f m2: %f \n\r", motorsPwm.m2, motorsPwm.m4);
ivo_david_michelle 11:5c54826d23a7 119 //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 120 }
ivo_david_michelle 0:4c04e4fd1310 121 }