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ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
main.cpp@10:e7d1801e966a, 2016-04-02 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Sat Apr 02 17:41:37 2016 +0000
- Revision:
- 10:e7d1801e966a
- Parent:
- 9:f1bd96708a21
- Child:
- 11:5c54826d23a7
some comments
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ivo_david_michelle | 0:4c04e4fd1310 | 1 | #include "mbed.h" |
ivo_david_michelle | 1:b87e95907a18 | 2 | #define _MBED_ |
ivo_david_michelle | 1:b87e95907a18 | 3 | #include "Adafruit_9DOF.h" |
ivo_david_michelle | 1:b87e95907a18 | 4 | #include "Serial_base.h" |
ivo_david_michelle | 1:b87e95907a18 | 5 | #include "controller.h" |
ivo_david_michelle | 3:828e82089564 | 6 | #include "sensor.h" |
ivo_david_michelle | 1:b87e95907a18 | 7 | |
ivo_david_michelle | 7:f3f94eadc5b5 | 8 | #include "quadcopter.h" |
ivo_david_michelle | 7:f3f94eadc5b5 | 9 | |
ivo_david_michelle | 1:b87e95907a18 | 10 | DigitalOut myled(LED1); |
ivo_david_michelle | 1:b87e95907a18 | 11 | Adafruit_9DOF dof = Adafruit_9DOF(); |
ivo_david_michelle | 1:b87e95907a18 | 12 | Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301); |
ivo_david_michelle | 1:b87e95907a18 | 13 | Adafruit_LSM303_Mag_Unified mag = Adafruit_LSM303_Mag_Unified(30302); |
ivo_david_michelle | 1:b87e95907a18 | 14 | Adafruit_L3GD20_Unified gyro = Adafruit_L3GD20_Unified(20); |
ivo_david_michelle | 0:4c04e4fd1310 | 15 | |
ivo_david_michelle | 0:4c04e4fd1310 | 16 | Serial pc(USBTX, USBRX); |
ivo_david_michelle | 9:f1bd96708a21 | 17 | Serial *pcPntr=&pc; |
ivo_david_michelle | 7:f3f94eadc5b5 | 18 | |
ivo_david_michelle | 6:6f3ffd97d808 | 19 | // pwm outputs for the 4 motors (motor 1 points into x direction, 2 into y direction, 3 -x direction, -y direction |
ivo_david_michelle | 4:3040d0f9e8c6 | 20 | PwmOut motor_1(p21); |
ivo_david_michelle | 5:f007542f1dab | 21 | PwmOut motor_2(p22); |
ivo_david_michelle | 4:3040d0f9e8c6 | 22 | PwmOut motor_3(p23); |
ivo_david_michelle | 4:3040d0f9e8c6 | 23 | PwmOut motor_4(p24); |
ivo_david_michelle | 4:3040d0f9e8c6 | 24 | |
ivo_david_michelle | 7:f3f94eadc5b5 | 25 | |
ivo_david_michelle | 7:f3f94eadc5b5 | 26 | /*struct pwmOut { |
ivo_david_michelle | 7:f3f94eadc5b5 | 27 | // pwmOut: this struct, PwmOut: class defined by mbed, _pwmOut: class memeber of quadcopter class |
ivo_david_michelle | 7:f3f94eadc5b5 | 28 | // pwm outputs for the 4 motors (motor 1 points into x direction, 2 into y direction, 3 -x direction, -y direction |
ivo_david_michelle | 7:f3f94eadc5b5 | 29 | PwmOut _motr; |
ivo_david_michelle | 7:f3f94eadc5b5 | 30 | PwmOut b |
ivo_david_michelle | 7:f3f94eadc5b5 | 31 | PwmOut c; |
ivo_david_michelle | 7:f3f94eadc5b5 | 32 | PwmOut d; |
ivo_david_michelle | 7:f3f94eadc5b5 | 33 | }; |
ivo_david_michelle | 7:f3f94eadc5b5 | 34 | */ |
ivo_david_michelle | 7:f3f94eadc5b5 | 35 | |
ivo_david_michelle | 0:4c04e4fd1310 | 36 | int main() |
ivo_david_michelle | 0:4c04e4fd1310 | 37 | { |
ivo_david_michelle | 9:f1bd96708a21 | 38 | Quadcopter myQuadcopter; // initialze Quadcopter object |
ivo_david_michelle | 9:f1bd96708a21 | 39 | myQuadcopter.setSerial(pcPntr); // give Quadcopter object pc Pointer in order to print |
ivo_david_michelle | 9:f1bd96708a21 | 40 | myQuadcopter.initAllSensors(); // initialize sensors |
ivo_david_michelle | 9:f1bd96708a21 | 41 | |
ivo_david_michelle | 10:e7d1801e966a | 42 | // get desired values from joystick |
ivo_david_michelle | 10:e7d1801e966a | 43 | // myQuadcopter.setDes(...) |
ivo_david_michelle | 10:e7d1801e966a | 44 | |
ivo_david_michelle | 10:e7d1801e966a | 45 | |
ivo_david_michelle | 9:f1bd96708a21 | 46 | control result; |
ivo_david_michelle | 4:3040d0f9e8c6 | 47 | offset offset_gyro; |
ivo_david_michelle | 3:828e82089564 | 48 | |
ivo_david_michelle | 3:828e82089564 | 49 | initSensors(accel, mag, gyro,offset_gyro); |
ivo_david_michelle | 1:b87e95907a18 | 50 | |
ivo_david_michelle | 1:b87e95907a18 | 51 | sensors_event_t accel_event; |
ivo_david_michelle | 1:b87e95907a18 | 52 | sensors_event_t mag_event; |
ivo_david_michelle | 1:b87e95907a18 | 53 | sensors_event_t gyro_event; |
ivo_david_michelle | 1:b87e95907a18 | 54 | sensors_vec_t orientation; |
ivo_david_michelle | 4:3040d0f9e8c6 | 55 | |
ivo_david_michelle | 6:6f3ffd97d808 | 56 | motor_1.period(0.002); // motor requires a 2ms period |
ivo_david_michelle | 6:6f3ffd97d808 | 57 | motor_2.period(0.002); // motor requires a 2ms period |
ivo_david_michelle | 6:6f3ffd97d808 | 58 | motor_3.period(0.002); // motor requires a 2ms period |
ivo_david_michelle | 6:6f3ffd97d808 | 59 | motor_4.period(0.002); // motor requires a 2ms period |
ivo_david_michelle | 4:3040d0f9e8c6 | 60 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 61 | // pwm duty cycles for the 4 motors |
ivo_david_michelle | 4:3040d0f9e8c6 | 62 | motor_1 = 0; |
ivo_david_michelle | 4:3040d0f9e8c6 | 63 | motor_2 = 0; |
ivo_david_michelle | 4:3040d0f9e8c6 | 64 | motor_3 = 0; |
ivo_david_michelle | 4:3040d0f9e8c6 | 65 | motor_4 = 0; |
ivo_david_michelle | 4:3040d0f9e8c6 | 66 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 67 | // startup procedure |
ivo_david_michelle | 4:3040d0f9e8c6 | 68 | pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r"); |
ivo_david_michelle | 4:3040d0f9e8c6 | 69 | char a= pc.getc(); |
ivo_david_michelle | 4:3040d0f9e8c6 | 70 | if (a!='s') { |
ivo_david_michelle | 4:3040d0f9e8c6 | 71 | pc.printf("Aborting"); |
ivo_david_michelle | 4:3040d0f9e8c6 | 72 | return 0; |
ivo_david_michelle | 4:3040d0f9e8c6 | 73 | }; |
ivo_david_michelle | 4:3040d0f9e8c6 | 74 | pc.printf("Starting up ESCs\n\r"); |
ivo_david_michelle | 4:3040d0f9e8c6 | 75 | motor_1 = 0.5; |
ivo_david_michelle | 4:3040d0f9e8c6 | 76 | motor_2 = 0.5; |
ivo_david_michelle | 4:3040d0f9e8c6 | 77 | motor_3 = 0.5; |
ivo_david_michelle | 4:3040d0f9e8c6 | 78 | motor_4 = 0.5; |
ivo_david_michelle | 4:3040d0f9e8c6 | 79 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 80 | pc.printf("Type 'c' to enter control loop, or anything else to abort.\n\r"); |
ivo_david_michelle | 4:3040d0f9e8c6 | 81 | char b= pc.getc(); |
ivo_david_michelle | 4:3040d0f9e8c6 | 82 | if (b!='c') { |
ivo_david_michelle | 4:3040d0f9e8c6 | 83 | pc.printf("Aborting"); |
ivo_david_michelle | 4:3040d0f9e8c6 | 84 | return 0; |
ivo_david_michelle | 4:3040d0f9e8c6 | 85 | }; |
ivo_david_michelle | 4:3040d0f9e8c6 | 86 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 87 | pc.printf("Entering control loop\n\r"); |
ivo_david_michelle | 4:3040d0f9e8c6 | 88 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 89 | while (1) { |
ivo_david_michelle | 1:b87e95907a18 | 90 | /* Calculate pitch and roll from the raw accelerometer data */ |
ivo_david_michelle | 1:b87e95907a18 | 91 | accel.getEvent(&accel_event); |
ivo_david_michelle | 1:b87e95907a18 | 92 | if (dof.accelGetOrientation(&accel_event, &orientation)) { |
ivo_david_michelle | 1:b87e95907a18 | 93 | /* 'orientation' should have valid .roll and .pitch fields */ |
ivo_david_michelle | 1:b87e95907a18 | 94 | //s_com->print(("Roll: ")); |
ivo_david_michelle | 1:b87e95907a18 | 95 | //s_com->print(orientation.roll); |
ivo_david_michelle | 1:b87e95907a18 | 96 | //s_com->print(("; ")); |
ivo_david_michelle | 1:b87e95907a18 | 97 | //s_com->print(("Pitch: ")); |
ivo_david_michelle | 1:b87e95907a18 | 98 | //s_com->print(orientation.pitch); |
ivo_david_michelle | 1:b87e95907a18 | 99 | //s_com->print((";\t")); |
ivo_david_michelle | 1:b87e95907a18 | 100 | } |
ivo_david_michelle | 1:b87e95907a18 | 101 | /* Calculate the heading using the magnetometer */ |
ivo_david_michelle | 1:b87e95907a18 | 102 | mag.getEvent(&mag_event); |
ivo_david_michelle | 1:b87e95907a18 | 103 | if (dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &orientation)) { |
ivo_david_michelle | 1:b87e95907a18 | 104 | /* 'orientation' should have valid .heading data now */ |
ivo_david_michelle | 1:b87e95907a18 | 105 | //s_com->print(("Heading: ")); |
ivo_david_michelle | 1:b87e95907a18 | 106 | //s_com->print(orientation.heading); |
ivo_david_michelle | 4:3040d0f9e8c6 | 107 | // s_com->print((";\r\n")); |
ivo_david_michelle | 1:b87e95907a18 | 108 | } |
ivo_david_michelle | 1:b87e95907a18 | 109 | /* Get angular rate data from gyroscope */ |
ivo_david_michelle | 1:b87e95907a18 | 110 | gyro.getEvent(&gyro_event); |
ivo_david_michelle | 10:e7d1801e966a | 111 | gyro_event.gyro.x -= offset_gyro.x; |
ivo_david_michelle | 10:e7d1801e966a | 112 | gyro_event.gyro.y -= offset_gyro.y; |
ivo_david_michelle | 10:e7d1801e966a | 113 | gyro_event.gyro.z -= offset_gyro.z; |
ivo_david_michelle | 1:b87e95907a18 | 114 | |
ivo_david_michelle | 5:f007542f1dab | 115 | wait(0.01); |
ivo_david_michelle | 1:b87e95907a18 | 116 | |
ivo_david_michelle | 0:4c04e4fd1310 | 117 | // get sensor values |
ivo_david_michelle | 0:4c04e4fd1310 | 118 | |
ivo_david_michelle | 0:4c04e4fd1310 | 119 | // call controller |
ivo_david_michelle | 2:c041e434eab6 | 120 | controller(gyro_event, orientation, &result); |
ivo_david_michelle | 0:4c04e4fd1310 | 121 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 122 | // compute PWM singals |
ivo_david_michelle | 4:3040d0f9e8c6 | 123 | // assumption for low angles the computed moments are between -10...10 |
ivo_david_michelle | 4:3040d0f9e8c6 | 124 | // since I dont want to risk, i set PWM to 60% duty cycle if deflection =10. |
ivo_david_michelle | 4:3040d0f9e8c6 | 125 | // USB connection of quadcopter points into x direction. |
ivo_david_michelle | 9:f1bd96708a21 | 126 | |
ivo_david_michelle | 9:f1bd96708a21 | 127 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 128 | // Set duty cycle |
ivo_david_michelle | 9:f1bd96708a21 | 129 | // continue looking what pwm is. |
ivo_david_michelle | 5:f007542f1dab | 130 | |
ivo_david_michelle | 5:f007542f1dab | 131 | motor_2=0.6+result.M_x/100; |
ivo_david_michelle | 5:f007542f1dab | 132 | motor_4=0.6-result.M_x/100; |
ivo_david_michelle | 4:3040d0f9e8c6 | 133 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 134 | |
ivo_david_michelle | 0:4c04e4fd1310 | 135 | // plot |
ivo_david_michelle | 0:4c04e4fd1310 | 136 | |
ivo_david_michelle | 0:4c04e4fd1310 | 137 | //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 | 2:c041e434eab6 | 138 | 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 | 139 | } |
ivo_david_michelle | 0:4c04e4fd1310 | 140 | } |