David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

main.cpp@29:ae765492fa8b, 2016-04-15 (annotated)

Committer:
ivo_david_michelle
Date:
Fri Apr 15 19:33:14 2016 +0000
Revision:
29:ae765492fa8b
Parent:
28:61f7356325c3
Child:
30:4820042e67b5
refactored

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 15:90e07946186f 38 }
ivo_david_michelle 14:64b06476d943 39 }
ivo_david_michelle 9:f1bd96708a21 40
ivo_david_michelle 15:90e07946186f 41 void rc_thread(void const *args)
ivo_david_michelle 15:90e07946186f 42 {
ivo_david_michelle 15:90e07946186f 43 while(true) {
ivo_david_michelle 15:90e07946186f 44 myQuadcopter.readRc();
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 26:7f50323c0c0d 51 float emergencyVoltage = 12.5; // switch off motors below it
ivo_david_michelle 22:92401a4fec13 52 float max_voltage = 14.8; // max voltage level of battery
ivo_david_michelle 22:92401a4fec13 53 float saturating_voltage = 18.38; // voltage at which ADC == 1
ivo_david_michelle 22:92401a4fec13 54 float max_adc = 0.80522; // when battery is at 14.8V
ivo_david_michelle 22:92401a4fec13 55 float threshold_adc = max_adc * threshold_voltage / max_voltage;
ivo_david_michelle 26:7f50323c0c0d 56 float emergency_adc = max_adc * emergencyVoltage / max_voltage;
ivo_david_michelle 26:7f50323c0c0d 57
ivo_david_michelle 22:92401a4fec13 58 while(true) {
ivo_david_michelle 22:92401a4fec13 59 if (battery.read() < threshold_adc) {
ivo_david_michelle 22:92401a4fec13 60 printf("low battery! %f\r\n", battery.read() * saturating_voltage);
ivo_david_michelle 29:ae765492fa8b 61 batteryLed = 1;
ivo_david_michelle 26:7f50323c0c0d 62 if (battery.read() < emergency_adc) {
ivo_david_michelle 29:ae765492fa8b 63 emergencyOff = 1;
ivo_david_michelle 29:ae765492fa8b 64 motor_1 = 0.1;
ivo_david_michelle 29:ae765492fa8b 65 motor_2 = 0.1;
ivo_david_michelle 29:ae765492fa8b 66 motor_3 = 0.1;
ivo_david_michelle 29:ae765492fa8b 67 motor_4 = 0.1;
ivo_david_michelle 26:7f50323c0c0d 68 }
ivo_david_michelle 22:92401a4fec13 69 }
ivo_david_michelle 22:92401a4fec13 70 Thread::wait(1000); // wait for some number of miliseconds
ivo_david_michelle 22:92401a4fec13 71 }
ivo_david_michelle 22:92401a4fec13 72 }
ivo_david_michelle 22:92401a4fec13 73
ivo_david_michelle 22:92401a4fec13 74
ivo_david_michelle 14:64b06476d943 75
ivo_david_michelle 15:90e07946186f 76 int main()
ivo_david_michelle 15:90e07946186f 77 {
ivo_david_michelle 29:ae765492fa8b 78 // ESCs requires a 100Hz frequency
ivo_david_michelle 29:ae765492fa8b 79 motor_1.period(0.01);
ivo_david_michelle 29:ae765492fa8b 80 motor_2.period(0.01);
ivo_david_michelle 29:ae765492fa8b 81 motor_3.period(0.01);
ivo_david_michelle 29:ae765492fa8b 82 motor_4.period(0.01);
ivo_david_michelle 22:92401a4fec13 83
ivo_david_michelle 27:11116aa69f32 84 Thread threadR(rc_thread);
ivo_david_michelle 27:11116aa69f32 85 double forceThreshold = -0.3;
ivo_david_michelle 27:11116aa69f32 86 double forceRc = myQuadcopter.getForce();
ivo_david_michelle 28:61f7356325c3 87
ivo_david_michelle 29:ae765492fa8b 88 // TODO figure out why forceRc occasionally goes below the threshold without input
ivo_david_michelle 28:61f7356325c3 89 while (forceRc > forceThreshold) { // wait until Joystick is in starting position
ivo_david_michelle 27:11116aa69f32 90 forceRc = myQuadcopter.getForce();
ivo_david_michelle 28:61f7356325c3 91 wait(1);
ivo_david_michelle 27:11116aa69f32 92 }
ivo_david_michelle 27:11116aa69f32 93
ivo_david_michelle 22:92401a4fec13 94 motor_1 = 0.1;
ivo_david_michelle 22:92401a4fec13 95 motor_2 = 0.1;
ivo_david_michelle 22:92401a4fec13 96 motor_3 = 0.1;
ivo_david_michelle 22:92401a4fec13 97 motor_4 = 0.1;
ivo_david_michelle 4:3040d0f9e8c6 98
ivo_david_michelle 28:61f7356325c3 99 wait(2); // hold startup duty cycle for 2 seconds
ivo_david_michelle 22:92401a4fec13 100
ivo_david_michelle 29:ae765492fa8b 101 // TODO assign priorities to threads, test if it really works as we expect
ivo_david_michelle 29:ae765492fa8b 102 Thread battery(battery_thread);
ivo_david_michelle 23:04338a5ef404 103 Thread thread(controller_thread);
ivo_david_michelle 14:64b06476d943 104
ivo_david_michelle 29:ae765492fa8b 105 // TODO is this needed?
ivo_david_michelle 29:ae765492fa8b 106 while (1);
ivo_david_michelle 0:4c04e4fd1310 107 }