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ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
main.cpp
- Committer:
- ivo_david_michelle
- Date:
- 2016-04-02
- Revision:
- 10:e7d1801e966a
- Parent:
- 9:f1bd96708a21
- Child:
- 11:5c54826d23a7
File content as of revision 10:e7d1801e966a:
#include "mbed.h" #define _MBED_ #include "Adafruit_9DOF.h" #include "Serial_base.h" #include "controller.h" #include "sensor.h" #include "quadcopter.h" DigitalOut myled(LED1); Adafruit_9DOF dof = Adafruit_9DOF(); Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301); Adafruit_LSM303_Mag_Unified mag = Adafruit_LSM303_Mag_Unified(30302); Adafruit_L3GD20_Unified gyro = Adafruit_L3GD20_Unified(20); Serial pc(USBTX, USBRX); Serial *pcPntr=&pc; // pwm outputs for the 4 motors (motor 1 points into x direction, 2 into y direction, 3 -x direction, -y direction PwmOut motor_1(p21); PwmOut motor_2(p22); PwmOut motor_3(p23); PwmOut motor_4(p24); /*struct pwmOut { // pwmOut: this struct, PwmOut: class defined by mbed, _pwmOut: class memeber of quadcopter class // pwm outputs for the 4 motors (motor 1 points into x direction, 2 into y direction, 3 -x direction, -y direction PwmOut _motr; PwmOut b PwmOut c; PwmOut d; }; */ int main() { Quadcopter myQuadcopter; // initialze Quadcopter object myQuadcopter.setSerial(pcPntr); // give Quadcopter object pc Pointer in order to print myQuadcopter.initAllSensors(); // initialize sensors // get desired values from joystick // myQuadcopter.setDes(...) control result; offset offset_gyro; initSensors(accel, mag, gyro,offset_gyro); sensors_event_t accel_event; sensors_event_t mag_event; sensors_event_t gyro_event; sensors_vec_t orientation; 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 // pwm duty cycles for the 4 motors motor_1 = 0; motor_2 = 0; motor_3 = 0; motor_4 = 0; // startup procedure pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r"); char a= pc.getc(); if (a!='s') { pc.printf("Aborting"); return 0; }; pc.printf("Starting up ESCs\n\r"); motor_1 = 0.5; motor_2 = 0.5; motor_3 = 0.5; motor_4 = 0.5; pc.printf("Type 'c' to enter control loop, or anything else to abort.\n\r"); char b= pc.getc(); if (b!='c') { pc.printf("Aborting"); return 0; }; pc.printf("Entering control loop\n\r"); while (1) { /* Calculate pitch and roll from the raw accelerometer data */ accel.getEvent(&accel_event); if (dof.accelGetOrientation(&accel_event, &orientation)) { /* 'orientation' should have valid .roll and .pitch fields */ //s_com->print(("Roll: ")); //s_com->print(orientation.roll); //s_com->print(("; ")); //s_com->print(("Pitch: ")); //s_com->print(orientation.pitch); //s_com->print((";\t")); } /* Calculate the heading using the magnetometer */ mag.getEvent(&mag_event); if (dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &orientation)) { /* 'orientation' should have valid .heading data now */ //s_com->print(("Heading: ")); //s_com->print(orientation.heading); // s_com->print((";\r\n")); } /* Get angular rate data from gyroscope */ gyro.getEvent(&gyro_event); gyro_event.gyro.x -= offset_gyro.x; gyro_event.gyro.y -= offset_gyro.y; gyro_event.gyro.z -= offset_gyro.z; wait(0.01); // get sensor values // call controller controller(gyro_event, orientation, &result); // compute PWM singals // assumption for low angles the computed moments are between -10...10 // since I dont want to risk, i set PWM to 60% duty cycle if deflection =10. // USB connection of quadcopter points into x direction. // Set duty cycle // continue looking what pwm is. motor_2=0.6+result.M_x/100; motor_4=0.6-result.M_x/100; // plot //pc.printf("F: %f M_x: %f M_y: %f M_z: %f\n\r", F, M_x, M_y, M_z); 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); } }