ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
main.cpp@23:04338a5ef404, 2016-04-12 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Tue Apr 12 22:54:16 2016 +0000
- Revision:
- 23:04338a5ef404
- Parent:
- 22:92401a4fec13
- Child:
- 24:e220fbb70ded
reading data from imu again
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 | 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 | 22:92401a4fec13 | 18 | // to read the battery voltage |
ivo_david_michelle | 22:92401a4fec13 | 19 | AnalogIn battery(p20); |
ivo_david_michelle | 4:3040d0f9e8c6 | 20 | |
ivo_david_michelle | 15:90e07946186f | 21 | void controller_thread(void const *args) |
ivo_david_michelle | 15:90e07946186f | 22 | { |
ivo_david_michelle | 15:90e07946186f | 23 | while(true) { |
ivo_david_michelle | 23:04338a5ef404 | 24 | myQuadcopter.readSensorValues(); |
ivo_david_michelle | 19:39c144ca2a2f | 25 | |
ivo_david_michelle | 15:90e07946186f | 26 | myQuadcopter.controller(); |
ivo_david_michelle | 18:a00d6b065c6b | 27 | motors motorsPwm=myQuadcopter.getPwm(); |
ivo_david_michelle | 18:a00d6b065c6b | 28 | |
ivo_david_michelle | 21:336faf452989 | 29 | motor_1=motorsPwm.m1; |
ivo_david_michelle | 21:336faf452989 | 30 | motor_2=motorsPwm.m2; |
ivo_david_michelle | 21:336faf452989 | 31 | motor_3=motorsPwm.m3; |
ivo_david_michelle | 18:a00d6b065c6b | 32 | motor_4=motorsPwm.m4; |
ivo_david_michelle | 22:92401a4fec13 | 33 | |
ivo_david_michelle | 22:92401a4fec13 | 34 | // pc.printf("m1: %f m2: %f m3: %f m4: %f \n\r", motorsPwm.m1, motorsPwm.m2, motorsPwm.m3, motorsPwm.m4); |
ivo_david_michelle | 18:a00d6b065c6b | 35 | |
ivo_david_michelle | 15:90e07946186f | 36 | Thread::wait(10); |
ivo_david_michelle | 15:90e07946186f | 37 | } |
ivo_david_michelle | 14:64b06476d943 | 38 | } |
ivo_david_michelle | 9:f1bd96708a21 | 39 | |
ivo_david_michelle | 15:90e07946186f | 40 | void rc_thread(void const *args) |
ivo_david_michelle | 15:90e07946186f | 41 | { |
ivo_david_michelle | 15:90e07946186f | 42 | while(true) { |
ivo_david_michelle | 15:90e07946186f | 43 | myQuadcopter.readRc(); |
ivo_david_michelle | 18:a00d6b065c6b | 44 | Thread::wait(50); // wait for some number of miliseconds |
ivo_david_michelle | 15:90e07946186f | 45 | } |
ivo_david_michelle | 14:64b06476d943 | 46 | } |
ivo_david_michelle | 14:64b06476d943 | 47 | |
ivo_david_michelle | 22:92401a4fec13 | 48 | void battery_thread(void const *args) |
ivo_david_michelle | 22:92401a4fec13 | 49 | { |
ivo_david_michelle | 22:92401a4fec13 | 50 | float threshold_voltage = 13.0; // desired lowest battery voltage |
ivo_david_michelle | 22:92401a4fec13 | 51 | float max_voltage = 14.8; // max voltage level of battery |
ivo_david_michelle | 22:92401a4fec13 | 52 | float saturating_voltage = 18.38; // voltage at which ADC == 1 |
ivo_david_michelle | 22:92401a4fec13 | 53 | float max_adc = 0.80522; // when battery is at 14.8V |
ivo_david_michelle | 22:92401a4fec13 | 54 | float threshold_adc = max_adc * threshold_voltage / max_voltage; |
ivo_david_michelle | 22:92401a4fec13 | 55 | while(true) { |
ivo_david_michelle | 22:92401a4fec13 | 56 | if (battery.read() < threshold_adc) { |
ivo_david_michelle | 22:92401a4fec13 | 57 | printf("low battery! %f\r\n", battery.read() * saturating_voltage); |
ivo_david_michelle | 22:92401a4fec13 | 58 | } |
ivo_david_michelle | 22:92401a4fec13 | 59 | Thread::wait(1000); // wait for some number of miliseconds |
ivo_david_michelle | 22:92401a4fec13 | 60 | } |
ivo_david_michelle | 22:92401a4fec13 | 61 | } |
ivo_david_michelle | 22:92401a4fec13 | 62 | |
ivo_david_michelle | 22:92401a4fec13 | 63 | |
ivo_david_michelle | 14:64b06476d943 | 64 | |
ivo_david_michelle | 15:90e07946186f | 65 | int main() |
ivo_david_michelle | 15:90e07946186f | 66 | { |
ivo_david_michelle | 14:64b06476d943 | 67 | // get desired values from joystick (to be implemented) |
ivo_david_michelle | 14:64b06476d943 | 68 | // myQuadcopter.setDes(...) |
ivo_david_michelle | 10:e7d1801e966a | 69 | |
ivo_david_michelle | 22:92401a4fec13 | 70 | motor_1.period(0.01); // motor requires a 2ms period |
ivo_david_michelle | 22:92401a4fec13 | 71 | motor_2.period(0.01); // motor requires a 2ms period |
ivo_david_michelle | 22:92401a4fec13 | 72 | motor_3.period(0.01); // motor requires a 2ms period |
ivo_david_michelle | 22:92401a4fec13 | 73 | motor_4.period(0.01); // motor requires a 2ms period |
ivo_david_michelle | 22:92401a4fec13 | 74 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 75 | // startup procedure |
ivo_david_michelle | 4:3040d0f9e8c6 | 76 | pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r"); |
ivo_david_michelle | 4:3040d0f9e8c6 | 77 | char a= pc.getc(); |
ivo_david_michelle | 4:3040d0f9e8c6 | 78 | if (a!='s') { |
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 | 13:291ba30c7806 | 82 | |
ivo_david_michelle | 12:422963993df5 | 83 | // Duty cycle at beginning must be 50% |
ivo_david_michelle | 4:3040d0f9e8c6 | 84 | pc.printf("Starting up ESCs\n\r"); |
ivo_david_michelle | 22:92401a4fec13 | 85 | motor_1 = 0.1; |
ivo_david_michelle | 22:92401a4fec13 | 86 | motor_2 = 0.1; |
ivo_david_michelle | 22:92401a4fec13 | 87 | motor_3 = 0.1; |
ivo_david_michelle | 22:92401a4fec13 | 88 | motor_4 = 0.1; |
ivo_david_michelle | 4:3040d0f9e8c6 | 89 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 90 | pc.printf("Type 'c' to enter control loop, or anything else to abort.\n\r"); |
ivo_david_michelle | 14:64b06476d943 | 91 | char b = pc.getc(); |
ivo_david_michelle | 4:3040d0f9e8c6 | 92 | if (b!='c') { |
ivo_david_michelle | 4:3040d0f9e8c6 | 93 | pc.printf("Aborting"); |
ivo_david_michelle | 4:3040d0f9e8c6 | 94 | return 0; |
ivo_david_michelle | 4:3040d0f9e8c6 | 95 | }; |
ivo_david_michelle | 15:90e07946186f | 96 | |
ivo_david_michelle | 22:92401a4fec13 | 97 | /* pc.printf("Outputting duty cycle specified below now press all but b to abort.\n\r"); |
ivo_david_michelle | 22:92401a4fec13 | 98 | motor_1 = 0.07; |
ivo_david_michelle | 22:92401a4fec13 | 99 | |
ivo_david_michelle | 22:92401a4fec13 | 100 | |
ivo_david_michelle | 22:92401a4fec13 | 101 | char c = pc.getc(); |
ivo_david_michelle | 22:92401a4fec13 | 102 | if (c!='c') { |
ivo_david_michelle | 22:92401a4fec13 | 103 | pc.printf("Aborting"); |
ivo_david_michelle | 22:92401a4fec13 | 104 | return 0; |
ivo_david_michelle | 22:92401a4fec13 | 105 | }; |
ivo_david_michelle | 22:92401a4fec13 | 106 | */ |
ivo_david_michelle | 22:92401a4fec13 | 107 | |
ivo_david_michelle | 23:04338a5ef404 | 108 | Thread thread(controller_thread); |
ivo_david_michelle | 23:04338a5ef404 | 109 | //Thread threadR(rc_thread); |
ivo_david_michelle | 23:04338a5ef404 | 110 | //Thread battery(battery_thread); |
ivo_david_michelle | 14:64b06476d943 | 111 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 112 | pc.printf("Entering control loop\n\r"); |
ivo_david_michelle | 4:3040d0f9e8c6 | 113 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 114 | while (1) { |
ivo_david_michelle | 19:39c144ca2a2f | 115 | //myQuadcopter.readSensorValues(); |
ivo_david_michelle | 18:a00d6b065c6b | 116 | //pc.printf("%lld: %f,%f,%f,%f\r\n", myQuadcopter.id, myQuadcopter.thrust, myQuadcopter.yaw, myQuadcopter.pitch, myQuadcopter.roll); |
ivo_david_michelle | 11:5c54826d23a7 | 117 | |
ivo_david_michelle | 15:90e07946186f | 118 | // myQuadcopter.controller(); |
ivo_david_michelle | 13:291ba30c7806 | 119 | |
ivo_david_michelle | 17:96d0c72e413e | 120 | // wait(0.01); |
ivo_david_michelle | 1:b87e95907a18 | 121 | |
ivo_david_michelle | 4:3040d0f9e8c6 | 122 | // Set duty cycle |
ivo_david_michelle | 22:92401a4fec13 | 123 | // motors motorsPwm=myQuadcopter.getPwm(); |
ivo_david_michelle | 5:f007542f1dab | 124 | |
ivo_david_michelle | 18:a00d6b065c6b | 125 | //motor_2=motorsPwm.m2; |
ivo_david_michelle | 18:a00d6b065c6b | 126 | //motor_4=motorsPwm.m4; |
ivo_david_michelle | 15:90e07946186f | 127 | |
ivo_david_michelle | 14:64b06476d943 | 128 | //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 | 129 | // pc.printf("m1: %f m2: %f \n\r", motorsPwm.m2, motorsPwm.m4); |
ivo_david_michelle | 11:5c54826d23a7 | 130 | //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 | 131 | } |
ivo_david_michelle | 0:4c04e4fd1310 | 132 | } |