David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

main.cpp@9:f1bd96708a21, 2016-04-02 (annotated)

Committer:
ivo_david_michelle
Date:
Sat Apr 02 14:54:46 2016 +0000
Revision:
9:f1bd96708a21
Parent:
7:f3f94eadc5b5
Child:
10:e7d1801e966a
implemented printing and sensor reading

Who changed what in which revision?

UserRevisionLine numberNew 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 9:f1bd96708a21 42 control result;
ivo_david_michelle 4:3040d0f9e8c6 43 offset offset_gyro;
ivo_david_michelle 3:828e82089564 44
ivo_david_michelle 3:828e82089564 45 initSensors(accel, mag, gyro,offset_gyro);
ivo_david_michelle 1:b87e95907a18 46
ivo_david_michelle 1:b87e95907a18 47 sensors_event_t accel_event;
ivo_david_michelle 1:b87e95907a18 48 sensors_event_t mag_event;
ivo_david_michelle 1:b87e95907a18 49 sensors_event_t gyro_event;
ivo_david_michelle 1:b87e95907a18 50 sensors_vec_t orientation;
ivo_david_michelle 4:3040d0f9e8c6 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 // pwm duty cycles for the 4 motors
ivo_david_michelle 4:3040d0f9e8c6 58 motor_1 = 0;
ivo_david_michelle 4:3040d0f9e8c6 59 motor_2 = 0;
ivo_david_michelle 4:3040d0f9e8c6 60 motor_3 = 0;
ivo_david_michelle 4:3040d0f9e8c6 61 motor_4 = 0;
ivo_david_michelle 4:3040d0f9e8c6 62
ivo_david_michelle 4:3040d0f9e8c6 63 // startup procedure
ivo_david_michelle 4:3040d0f9e8c6 64 pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r");
ivo_david_michelle 4:3040d0f9e8c6 65 char a= pc.getc();
ivo_david_michelle 4:3040d0f9e8c6 66 if (a!='s') {
ivo_david_michelle 4:3040d0f9e8c6 67 pc.printf("Aborting");
ivo_david_michelle 4:3040d0f9e8c6 68 return 0;
ivo_david_michelle 4:3040d0f9e8c6 69 };
ivo_david_michelle 4:3040d0f9e8c6 70 pc.printf("Starting up ESCs\n\r");
ivo_david_michelle 4:3040d0f9e8c6 71 motor_1 = 0.5;
ivo_david_michelle 4:3040d0f9e8c6 72 motor_2 = 0.5;
ivo_david_michelle 4:3040d0f9e8c6 73 motor_3 = 0.5;
ivo_david_michelle 4:3040d0f9e8c6 74 motor_4 = 0.5;
ivo_david_michelle 4:3040d0f9e8c6 75
ivo_david_michelle 4:3040d0f9e8c6 76 pc.printf("Type 'c' to enter control loop, or anything else to abort.\n\r");
ivo_david_michelle 4:3040d0f9e8c6 77 char b= pc.getc();
ivo_david_michelle 4:3040d0f9e8c6 78 if (b!='c') {
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 4:3040d0f9e8c6 82
ivo_david_michelle 4:3040d0f9e8c6 83 pc.printf("Entering control loop\n\r");
ivo_david_michelle 4:3040d0f9e8c6 84
ivo_david_michelle 4:3040d0f9e8c6 85 while (1) {
ivo_david_michelle 1:b87e95907a18 86 /* Calculate pitch and roll from the raw accelerometer data */
ivo_david_michelle 1:b87e95907a18 87 accel.getEvent(&accel_event);
ivo_david_michelle 1:b87e95907a18 88 if (dof.accelGetOrientation(&accel_event, &orientation)) {
ivo_david_michelle 1:b87e95907a18 89 /* 'orientation' should have valid .roll and .pitch fields */
ivo_david_michelle 1:b87e95907a18 90 //s_com->print(("Roll: "));
ivo_david_michelle 1:b87e95907a18 91 //s_com->print(orientation.roll);
ivo_david_michelle 1:b87e95907a18 92 //s_com->print(("; "));
ivo_david_michelle 1:b87e95907a18 93 //s_com->print(("Pitch: "));
ivo_david_michelle 1:b87e95907a18 94 //s_com->print(orientation.pitch);
ivo_david_michelle 1:b87e95907a18 95 //s_com->print((";\t"));
ivo_david_michelle 1:b87e95907a18 96 }
ivo_david_michelle 1:b87e95907a18 97 /* Calculate the heading using the magnetometer */
ivo_david_michelle 1:b87e95907a18 98 mag.getEvent(&mag_event);
ivo_david_michelle 1:b87e95907a18 99 if (dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &orientation)) {
ivo_david_michelle 1:b87e95907a18 100 /* 'orientation' should have valid .heading data now */
ivo_david_michelle 1:b87e95907a18 101 //s_com->print(("Heading: "));
ivo_david_michelle 1:b87e95907a18 102 //s_com->print(orientation.heading);
ivo_david_michelle 4:3040d0f9e8c6 103 // s_com->print((";\r\n"));
ivo_david_michelle 1:b87e95907a18 104 }
ivo_david_michelle 1:b87e95907a18 105 /* Get angular rate data from gyroscope */
ivo_david_michelle 1:b87e95907a18 106 gyro.getEvent(&gyro_event);
ivo_david_michelle 3:828e82089564 107 gyro_event.gyro.x -= offset_gyro.x_offset;
ivo_david_michelle 3:828e82089564 108 gyro_event.gyro.y -= offset_gyro.y_offset;
ivo_david_michelle 3:828e82089564 109 gyro_event.gyro.z -= offset_gyro.z_offset;
ivo_david_michelle 1:b87e95907a18 110
ivo_david_michelle 5:f007542f1dab 111 wait(0.01);
ivo_david_michelle 1:b87e95907a18 112
ivo_david_michelle 0:4c04e4fd1310 113 // get sensor values
ivo_david_michelle 0:4c04e4fd1310 114
ivo_david_michelle 0:4c04e4fd1310 115 // call controller
ivo_david_michelle 2:c041e434eab6 116 controller(gyro_event, orientation, &result);
ivo_david_michelle 0:4c04e4fd1310 117
ivo_david_michelle 4:3040d0f9e8c6 118 // compute PWM singals
ivo_david_michelle 4:3040d0f9e8c6 119 // assumption for low angles the computed moments are between -10...10
ivo_david_michelle 4:3040d0f9e8c6 120 // since I dont want to risk, i set PWM to 60% duty cycle if deflection =10.
ivo_david_michelle 4:3040d0f9e8c6 121 // USB connection of quadcopter points into x direction.
ivo_david_michelle 9:f1bd96708a21 122
ivo_david_michelle 9:f1bd96708a21 123
ivo_david_michelle 4:3040d0f9e8c6 124 // Set duty cycle
ivo_david_michelle 9:f1bd96708a21 125 // continue looking what pwm is.
ivo_david_michelle 5:f007542f1dab 126
ivo_david_michelle 5:f007542f1dab 127 motor_2=0.6+result.M_x/100;
ivo_david_michelle 5:f007542f1dab 128 motor_4=0.6-result.M_x/100;
ivo_david_michelle 4:3040d0f9e8c6 129
ivo_david_michelle 4:3040d0f9e8c6 130
ivo_david_michelle 0:4c04e4fd1310 131 // plot
ivo_david_michelle 0:4c04e4fd1310 132
ivo_david_michelle 0:4c04e4fd1310 133 //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 134 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 135 }
ivo_david_michelle 0:4c04e4fd1310 136 }