Diff: main.cpp

Revision:

22:92401a4fec13

Parent:

21:336faf452989

Child:

23:04338a5ef404

--- a/main.cpp	Sun Apr 10 21:47:17 2016 +0000
+++ b/main.cpp	Mon Apr 11 16:41:56 2016 +0000
@@ -15,6 +15,8 @@
 PwmOut motor_3(p25);
 PwmOut motor_4(p26);
 
+// to read the battery voltage
+AnalogIn battery(p20);
 
 void controller_thread(void const *args)
 {
@@ -28,8 +30,8 @@
         motor_2=motorsPwm.m2;
         motor_3=motorsPwm.m3;
         motor_4=motorsPwm.m4;
-        
-       // pc.printf("m1: %f m2: %f m3: %f m4: %f \n\r",  motorsPwm.m1, motorsPwm.m2, motorsPwm.m3, motorsPwm.m4);
+
+        // pc.printf("m1: %f m2: %f m3: %f m4: %f \n\r",  motorsPwm.m1, motorsPwm.m2, motorsPwm.m3, motorsPwm.m4);
 
         Thread::wait(10);
     }
@@ -43,6 +45,22 @@
     }
 }
 
+void battery_thread(void const *args)
+{
+    float threshold_voltage = 13.0; // desired lowest battery voltage
+    float max_voltage = 14.8; // max voltage level of battery
+    float saturating_voltage = 18.38; // voltage at which ADC == 1
+    float max_adc = 0.80522; // when battery is at 14.8V
+    float threshold_adc = max_adc * threshold_voltage / max_voltage;
+    while(true) {
+        if (battery.read() < threshold_adc) {
+            printf("low battery! %f\r\n", battery.read() * saturating_voltage);
+        }
+        Thread::wait(1000);  // wait for some number of miliseconds
+    }
+}
+
+
 
 int main()
 {
@@ -51,10 +69,15 @@
     // get desired values from joystick (to be implemented)
     // myQuadcopter.setDes(...)
 
-    motor_1.period(0.002);          // motor requires a 2ms period
-    motor_2.period(0.002);          // motor requires a 2ms period
-    motor_3.period(0.002);          // motor requires a 2ms period
-    motor_4.period(0.002);          // motor requires a 2ms period
+    motor_1.period(0.01);          // motor requires a 2ms period
+    motor_2.period(0.01);          // motor requires a 2ms period
+    motor_3.period(0.01);          // motor requires a 2ms period
+    motor_4.period(0.01);          // motor requires a 2ms period
+
+    //pc.printf("Pestingt.\n\r");
+
+
+
 
     // startup procedure
     pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r");
@@ -64,12 +87,14 @@
         return 0;
     };
 
+
+
     // Duty cycle at beginning must be  50%
     pc.printf("Starting up ESCs\n\r");
-    motor_1 = 0.5;
-    motor_2 = 0.5;
-    motor_3 = 0.5;
-    motor_4 = 0.5;
+    motor_1 = 0.1;
+    motor_2 = 0.1;
+    motor_3 = 0.1;
+    motor_4 = 0.1;
 
     pc.printf("Type 'c' to enter control loop, or anything else to abort.\n\r");
     char b = pc.getc();
@@ -78,11 +103,26 @@
         return 0;
     };
 
+
+
+    /*     pc.printf("Outputting duty cycle specified below now press all but b to abort.\n\r");
+             motor_1 = 0.07;
+
+
+     char c = pc.getc();
+     if (c!='c') {
+         pc.printf("Aborting");
+         return 0;
+     };
+     */
+
+
     Thread threadR(rc_thread);
+    Thread battery(battery_thread);
 
     //check if remote controll is working with if statement
 
-Thread threadC(controller_thread);
+    Thread threadC(controller_thread);
     pc.printf("Entering control loop\n\r");
 
     while (1) {
@@ -94,7 +134,7 @@
         // wait(0.01);
 
         // Set duty cycle
-       // motors motorsPwm=myQuadcopter.getPwm();
+        // motors motorsPwm=myQuadcopter.getPwm();
 
         //motor_2=motorsPwm.m2;
         //motor_4=motorsPwm.m4;