David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

main.cpp@26:7f50323c0c0d, 2016-04-14 (annotated)

Committer:
ivo_david_michelle
Date:
Thu Apr 14 19:58:42 2016 +0000
Revision:
26:7f50323c0c0d
Parent:
25:d44610851105
Child:
27:11116aa69f32
integrated HW, implemented emergency shutdown.

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 22:92401a4fec13 18 // to read the battery voltage
ivo_david_michelle 22:92401a4fec13 19 AnalogIn battery(p20);
ivo_david_michelle 26:7f50323c0c0d 20 DigitalOut batteryLed(LED1);
ivo_david_michelle 26:7f50323c0c0d 21
ivo_david_michelle 26:7f50323c0c0d 22
ivo_david_michelle 26:7f50323c0c0d 23 //
ivo_david_michelle 26:7f50323c0c0d 24 int emergencyOff=0;
ivo_david_michelle 4:3040d0f9e8c6 25
ivo_david_michelle 15:90e07946186f 26 void controller_thread(void const *args)
ivo_david_michelle 15:90e07946186f 27 {
ivo_david_michelle 26:7f50323c0c0d 28 while(emergencyOff != 1) {
ivo_david_michelle 23:04338a5ef404 29 myQuadcopter.readSensorValues();
ivo_david_michelle 19:39c144ca2a2f 30
ivo_david_michelle 15:90e07946186f 31 myQuadcopter.controller();
ivo_david_michelle 18:a00d6b065c6b 32 motors motorsPwm=myQuadcopter.getPwm();
ivo_david_michelle 18:a00d6b065c6b 33
ivo_david_michelle 21:336faf452989 34 motor_1=motorsPwm.m1;
ivo_david_michelle 21:336faf452989 35 motor_2=motorsPwm.m2;
ivo_david_michelle 21:336faf452989 36 motor_3=motorsPwm.m3;
ivo_david_michelle 18:a00d6b065c6b 37 motor_4=motorsPwm.m4;
ivo_david_michelle 22:92401a4fec13 38
ivo_david_michelle 26:7f50323c0c0d 39
ivo_david_michelle 26:7f50323c0c0d 40
ivo_david_michelle 22:92401a4fec13 41 // 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 42
ivo_david_michelle 15:90e07946186f 43 Thread::wait(10);
ivo_david_michelle 15:90e07946186f 44 }
ivo_david_michelle 14:64b06476d943 45 }
ivo_david_michelle 9:f1bd96708a21 46
ivo_david_michelle 15:90e07946186f 47 void rc_thread(void const *args)
ivo_david_michelle 15:90e07946186f 48 {
ivo_david_michelle 15:90e07946186f 49 while(true) {
ivo_david_michelle 15:90e07946186f 50 myQuadcopter.readRc();
ivo_david_michelle 18:a00d6b065c6b 51 Thread::wait(50); // wait for some number of miliseconds
ivo_david_michelle 15:90e07946186f 52 }
ivo_david_michelle 14:64b06476d943 53 }
ivo_david_michelle 14:64b06476d943 54
ivo_david_michelle 22:92401a4fec13 55 void battery_thread(void const *args)
ivo_david_michelle 22:92401a4fec13 56 {
ivo_david_michelle 22:92401a4fec13 57 float threshold_voltage = 13.0; // desired lowest battery voltage
ivo_david_michelle 26:7f50323c0c0d 58 float emergencyVoltage = 12.5; // switch off motors below it
ivo_david_michelle 22:92401a4fec13 59 float max_voltage = 14.8; // max voltage level of battery
ivo_david_michelle 22:92401a4fec13 60 float saturating_voltage = 18.38; // voltage at which ADC == 1
ivo_david_michelle 22:92401a4fec13 61 float max_adc = 0.80522; // when battery is at 14.8V
ivo_david_michelle 22:92401a4fec13 62 float threshold_adc = max_adc * threshold_voltage / max_voltage;
ivo_david_michelle 26:7f50323c0c0d 63 float emergency_adc = max_adc * emergencyVoltage / max_voltage;
ivo_david_michelle 26:7f50323c0c0d 64
ivo_david_michelle 22:92401a4fec13 65 while(true) {
ivo_david_michelle 22:92401a4fec13 66 if (battery.read() < threshold_adc) {
ivo_david_michelle 22:92401a4fec13 67 printf("low battery! %f\r\n", battery.read() * saturating_voltage);
ivo_david_michelle 26:7f50323c0c0d 68 batteryLed=1;
ivo_david_michelle 26:7f50323c0c0d 69 if (battery.read() < emergency_adc) {
ivo_david_michelle 26:7f50323c0c0d 70 emergencyOff=1;
ivo_david_michelle 26:7f50323c0c0d 71 motor_1=0.1;
ivo_david_michelle 26:7f50323c0c0d 72 motor_2=0.1;
ivo_david_michelle 26:7f50323c0c0d 73 motor_3=0.1;
ivo_david_michelle 26:7f50323c0c0d 74 motor_4=0.1;
ivo_david_michelle 26:7f50323c0c0d 75 }
ivo_david_michelle 22:92401a4fec13 76 }
ivo_david_michelle 22:92401a4fec13 77 Thread::wait(1000); // wait for some number of miliseconds
ivo_david_michelle 22:92401a4fec13 78 }
ivo_david_michelle 22:92401a4fec13 79 }
ivo_david_michelle 22:92401a4fec13 80
ivo_david_michelle 22:92401a4fec13 81
ivo_david_michelle 14:64b06476d943 82
ivo_david_michelle 15:90e07946186f 83 int main()
ivo_david_michelle 15:90e07946186f 84 {
ivo_david_michelle 14:64b06476d943 85 // get desired values from joystick (to be implemented)
ivo_david_michelle 14:64b06476d943 86 // myQuadcopter.setDes(...)
ivo_david_michelle 10:e7d1801e966a 87
ivo_david_michelle 22:92401a4fec13 88 motor_1.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 89 motor_2.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 90 motor_3.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 91 motor_4.period(0.01); // motor requires a 2ms period
ivo_david_michelle 22:92401a4fec13 92
ivo_david_michelle 4:3040d0f9e8c6 93 // startup procedure
ivo_david_michelle 4:3040d0f9e8c6 94 pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r");
ivo_david_michelle 4:3040d0f9e8c6 95 char a= pc.getc();
ivo_david_michelle 4:3040d0f9e8c6 96 if (a!='s') {
ivo_david_michelle 4:3040d0f9e8c6 97 pc.printf("Aborting");
ivo_david_michelle 4:3040d0f9e8c6 98 return 0;
ivo_david_michelle 4:3040d0f9e8c6 99 };
ivo_david_michelle 13:291ba30c7806 100
ivo_david_michelle 12:422963993df5 101 // Duty cycle at beginning must be 50%
ivo_david_michelle 4:3040d0f9e8c6 102 pc.printf("Starting up ESCs\n\r");
ivo_david_michelle 22:92401a4fec13 103 motor_1 = 0.1;
ivo_david_michelle 22:92401a4fec13 104 motor_2 = 0.1;
ivo_david_michelle 22:92401a4fec13 105 motor_3 = 0.1;
ivo_david_michelle 22:92401a4fec13 106 motor_4 = 0.1;
ivo_david_michelle 4:3040d0f9e8c6 107
ivo_david_michelle 4:3040d0f9e8c6 108 pc.printf("Type 'c' to enter control loop, or anything else to abort.\n\r");
ivo_david_michelle 14:64b06476d943 109 char b = pc.getc();
ivo_david_michelle 4:3040d0f9e8c6 110 if (b!='c') {
ivo_david_michelle 4:3040d0f9e8c6 111 pc.printf("Aborting");
ivo_david_michelle 4:3040d0f9e8c6 112 return 0;
ivo_david_michelle 4:3040d0f9e8c6 113 };
ivo_david_michelle 15:90e07946186f 114
ivo_david_michelle 22:92401a4fec13 115 /* pc.printf("Outputting duty cycle specified below now press all but b to abort.\n\r");
ivo_david_michelle 22:92401a4fec13 116 motor_1 = 0.07;
ivo_david_michelle 22:92401a4fec13 117
ivo_david_michelle 22:92401a4fec13 118
ivo_david_michelle 22:92401a4fec13 119 char c = pc.getc();
ivo_david_michelle 22:92401a4fec13 120 if (c!='c') {
ivo_david_michelle 22:92401a4fec13 121 pc.printf("Aborting");
ivo_david_michelle 22:92401a4fec13 122 return 0;
ivo_david_michelle 22:92401a4fec13 123 };
ivo_david_michelle 22:92401a4fec13 124 */
ivo_david_michelle 22:92401a4fec13 125
ivo_david_michelle 25:d44610851105 126 // TODO assign priorities to threads, test if it really works as we expect
ivo_david_michelle 23:04338a5ef404 127 Thread thread(controller_thread);
ivo_david_michelle 24:e220fbb70ded 128 Thread threadR(rc_thread);
ivo_david_michelle 26:7f50323c0c0d 129 Thread battery(battery_thread);
ivo_david_michelle 14:64b06476d943 130
ivo_david_michelle 4:3040d0f9e8c6 131 pc.printf("Entering control loop\n\r");
ivo_david_michelle 4:3040d0f9e8c6 132
ivo_david_michelle 4:3040d0f9e8c6 133 while (1) {
ivo_david_michelle 19:39c144ca2a2f 134 //myQuadcopter.readSensorValues();
ivo_david_michelle 11:5c54826d23a7 135
ivo_david_michelle 15:90e07946186f 136 // myQuadcopter.controller();
ivo_david_michelle 13:291ba30c7806 137
ivo_david_michelle 17:96d0c72e413e 138 // wait(0.01);
ivo_david_michelle 1:b87e95907a18 139
ivo_david_michelle 4:3040d0f9e8c6 140 // Set duty cycle
ivo_david_michelle 22:92401a4fec13 141 // motors motorsPwm=myQuadcopter.getPwm();
ivo_david_michelle 5:f007542f1dab 142
ivo_david_michelle 18:a00d6b065c6b 143 //motor_2=motorsPwm.m2;
ivo_david_michelle 18:a00d6b065c6b 144 //motor_4=motorsPwm.m4;
ivo_david_michelle 15:90e07946186f 145
ivo_david_michelle 14:64b06476d943 146 //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 147 // pc.printf("m1: %f m2: %f \n\r", motorsPwm.m2, motorsPwm.m4);
ivo_david_michelle 11:5c54826d23a7 148 //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 149 }
ivo_david_michelle 0:4c04e4fd1310 150 }