David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

main.cpp@20:efa15ed008b4, 2016-04-10 (annotated)

Committer:
ivo_david_michelle
Date:
Sun Apr 10 19:50:18 2016 +0000
Revision:
20:efa15ed008b4
Parent:
19:39c144ca2a2f
Child:
21:336faf452989
implemented controll of all axis

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 4:3040d0f9e8c6 18
ivo_david_michelle 15:90e07946186f 19 void controller_thread(void const *args)
ivo_david_michelle 15:90e07946186f 20 {
ivo_david_michelle 15:90e07946186f 21 while(true) {
ivo_david_michelle 19:39c144ca2a2f 22 //myQuadcopter.readSensorValues();
ivo_david_michelle 19:39c144ca2a2f 23
ivo_david_michelle 15:90e07946186f 24 myQuadcopter.controller();
ivo_david_michelle 18:a00d6b065c6b 25 motors motorsPwm=myQuadcopter.getPwm();
ivo_david_michelle 18:a00d6b065c6b 26
ivo_david_michelle 20:efa15ed008b4 27 motor_2=0.5;//motorsPwm.m2;
ivo_david_michelle 18:a00d6b065c6b 28 motor_4=motorsPwm.m4;
ivo_david_michelle 18:a00d6b065c6b 29
ivo_david_michelle 20:efa15ed008b4 30 pc.printf("m1: %f m2: %f \n\r", motorsPwm.m2, motorsPwm.m4);
ivo_david_michelle 18:a00d6b065c6b 31
ivo_david_michelle 15:90e07946186f 32 Thread::wait(10);
ivo_david_michelle 15:90e07946186f 33 }
ivo_david_michelle 14:64b06476d943 34 }
ivo_david_michelle 9:f1bd96708a21 35
ivo_david_michelle 15:90e07946186f 36 void rc_thread(void const *args)
ivo_david_michelle 15:90e07946186f 37 {
ivo_david_michelle 15:90e07946186f 38 while(true) {
ivo_david_michelle 15:90e07946186f 39 myQuadcopter.readRc();
ivo_david_michelle 18:a00d6b065c6b 40 Thread::wait(50); // wait for some number of miliseconds
ivo_david_michelle 15:90e07946186f 41 }
ivo_david_michelle 14:64b06476d943 42 }
ivo_david_michelle 14:64b06476d943 43
ivo_david_michelle 14:64b06476d943 44
ivo_david_michelle 15:90e07946186f 45 int main()
ivo_david_michelle 15:90e07946186f 46 {
ivo_david_michelle 14:64b06476d943 47 //Thread thread(controller_thread);
ivo_david_michelle 14:64b06476d943 48
ivo_david_michelle 14:64b06476d943 49 // get desired values from joystick (to be implemented)
ivo_david_michelle 14:64b06476d943 50 // myQuadcopter.setDes(...)
ivo_david_michelle 10:e7d1801e966a 51
ivo_david_michelle 6:6f3ffd97d808 52 motor_1.period(0.002); // motor requires a 2ms period
ivo_david_michelle 6:6f3ffd97d808 53 motor_2.period(0.002); // motor requires a 2ms period
ivo_david_michelle 6:6f3ffd97d808 54 motor_3.period(0.002); // motor requires a 2ms period
ivo_david_michelle 6:6f3ffd97d808 55 motor_4.period(0.002); // motor requires a 2ms period
ivo_david_michelle 4:3040d0f9e8c6 56
ivo_david_michelle 4:3040d0f9e8c6 57 // startup procedure
ivo_david_michelle 4:3040d0f9e8c6 58 pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r");
ivo_david_michelle 4:3040d0f9e8c6 59 char a= pc.getc();
ivo_david_michelle 4:3040d0f9e8c6 60 if (a!='s') {
ivo_david_michelle 4:3040d0f9e8c6 61 pc.printf("Aborting");
ivo_david_michelle 4:3040d0f9e8c6 62 return 0;
ivo_david_michelle 4:3040d0f9e8c6 63 };
ivo_david_michelle 13:291ba30c7806 64
ivo_david_michelle 12:422963993df5 65 // Duty cycle at beginning must be 50%
ivo_david_michelle 4:3040d0f9e8c6 66 pc.printf("Starting up ESCs\n\r");
ivo_david_michelle 4:3040d0f9e8c6 67 motor_1 = 0.5;
ivo_david_michelle 4:3040d0f9e8c6 68 motor_2 = 0.5;
ivo_david_michelle 4:3040d0f9e8c6 69 motor_3 = 0.5;
ivo_david_michelle 4:3040d0f9e8c6 70 motor_4 = 0.5;
ivo_david_michelle 4:3040d0f9e8c6 71
ivo_david_michelle 4:3040d0f9e8c6 72 pc.printf("Type 'c' to enter control loop, or anything else to abort.\n\r");
ivo_david_michelle 14:64b06476d943 73 char b = pc.getc();
ivo_david_michelle 4:3040d0f9e8c6 74 if (b!='c') {
ivo_david_michelle 4:3040d0f9e8c6 75 pc.printf("Aborting");
ivo_david_michelle 4:3040d0f9e8c6 76 return 0;
ivo_david_michelle 4:3040d0f9e8c6 77 };
ivo_david_michelle 15:90e07946186f 78
ivo_david_michelle 14:64b06476d943 79 Thread threadR(rc_thread);
ivo_david_michelle 14:64b06476d943 80
ivo_david_michelle 14:64b06476d943 81 //check if remote controll is working with if statement
ivo_david_michelle 4:3040d0f9e8c6 82
ivo_david_michelle 18:a00d6b065c6b 83 Thread threadC(controller_thread);
ivo_david_michelle 4:3040d0f9e8c6 84 pc.printf("Entering control loop\n\r");
ivo_david_michelle 4:3040d0f9e8c6 85
ivo_david_michelle 4:3040d0f9e8c6 86 while (1) {
ivo_david_michelle 19:39c144ca2a2f 87 //myQuadcopter.readSensorValues();
ivo_david_michelle 18:a00d6b065c6b 88 //pc.printf("%lld: %f,%f,%f,%f\r\n", myQuadcopter.id, myQuadcopter.thrust, myQuadcopter.yaw, myQuadcopter.pitch, myQuadcopter.roll);
ivo_david_michelle 11:5c54826d23a7 89
ivo_david_michelle 15:90e07946186f 90 // myQuadcopter.controller();
ivo_david_michelle 13:291ba30c7806 91
ivo_david_michelle 17:96d0c72e413e 92 // wait(0.01);
ivo_david_michelle 1:b87e95907a18 93
ivo_david_michelle 4:3040d0f9e8c6 94 // Set duty cycle
ivo_david_michelle 18:a00d6b065c6b 95 // motors motorsPwm=myQuadcopter.getPwm();
ivo_david_michelle 5:f007542f1dab 96
ivo_david_michelle 18:a00d6b065c6b 97 //motor_2=motorsPwm.m2;
ivo_david_michelle 18:a00d6b065c6b 98 //motor_4=motorsPwm.m4;
ivo_david_michelle 15:90e07946186f 99
ivo_david_michelle 14:64b06476d943 100 //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 101 // pc.printf("m1: %f m2: %f \n\r", motorsPwm.m2, motorsPwm.m4);
ivo_david_michelle 11:5c54826d23a7 102 //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 103 }
ivo_david_michelle 0:4c04e4fd1310 104 }