ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.h@24:e220fbb70ded, 2016-04-13 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Wed Apr 13 00:57:15 2016 +0000
- Revision:
- 24:e220fbb70ded
- Parent:
- 22:92401a4fec13
- Child:
- 25:d44610851105
after integration
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ivo_david_michelle | 6:6f3ffd97d808 | 1 | #ifndef QUADCOPTER_H |
ivo_david_michelle | 6:6f3ffd97d808 | 2 | #define QUADCOPTER_H |
ivo_david_michelle | 6:6f3ffd97d808 | 3 | |
ivo_david_michelle | 7:f3f94eadc5b5 | 4 | #include "mbed.h" |
ivo_david_michelle | 7:f3f94eadc5b5 | 5 | #include "Adafruit_9DOF.h" |
ivo_david_michelle | 9:f1bd96708a21 | 6 | #include "Serial_base.h" |
ivo_david_michelle | 14:64b06476d943 | 7 | #include "MRF24J40.h" |
ivo_david_michelle | 14:64b06476d943 | 8 | |
ivo_david_michelle | 6:6f3ffd97d808 | 9 | |
ivo_david_michelle | 13:291ba30c7806 | 10 | // a few struct declarations. Can possibly eliminated using the vector class in STL |
ivo_david_michelle | 7:f3f94eadc5b5 | 11 | struct state { |
ivo_david_michelle | 10:e7d1801e966a | 12 | double phi; // roll |
ivo_david_michelle | 10:e7d1801e966a | 13 | double theta; // pitch |
ivo_david_michelle | 10:e7d1801e966a | 14 | double psi; // yaw |
ivo_david_michelle | 10:e7d1801e966a | 15 | double p; // omega x |
ivo_david_michelle | 10:e7d1801e966a | 16 | double q; // omega y |
ivo_david_michelle | 10:e7d1801e966a | 17 | double r; // omega z |
ivo_david_michelle | 10:e7d1801e966a | 18 | |
ivo_david_michelle | 6:6f3ffd97d808 | 19 | }; |
ivo_david_michelle | 7:f3f94eadc5b5 | 20 | |
ivo_david_michelle | 10:e7d1801e966a | 21 | struct controlInput { |
ivo_david_michelle | 10:e7d1801e966a | 22 | double f; |
ivo_david_michelle | 10:e7d1801e966a | 23 | double mx; |
ivo_david_michelle | 10:e7d1801e966a | 24 | double my; |
ivo_david_michelle | 10:e7d1801e966a | 25 | double mz; |
ivo_david_michelle | 7:f3f94eadc5b5 | 26 | }; |
ivo_david_michelle | 7:f3f94eadc5b5 | 27 | |
ivo_david_michelle | 14:64b06476d943 | 28 | typedef struct { |
ivo_david_michelle | 24:e220fbb70ded | 29 | double gyro_x; |
ivo_david_michelle | 24:e220fbb70ded | 30 | double gyro_y; |
ivo_david_michelle | 24:e220fbb70ded | 31 | double gyro_z; |
ivo_david_michelle | 24:e220fbb70ded | 32 | double roll; |
ivo_david_michelle | 24:e220fbb70ded | 33 | double pitch; |
ivo_david_michelle | 24:e220fbb70ded | 34 | double heading; |
ivo_david_michelle | 14:64b06476d943 | 35 | } offset; |
ivo_david_michelle | 7:f3f94eadc5b5 | 36 | |
ivo_david_michelle | 11:5c54826d23a7 | 37 | struct motors { |
ivo_david_michelle | 11:5c54826d23a7 | 38 | double m1; |
ivo_david_michelle | 11:5c54826d23a7 | 39 | double m2; |
ivo_david_michelle | 11:5c54826d23a7 | 40 | double m3; |
ivo_david_michelle | 11:5c54826d23a7 | 41 | double m4; |
ivo_david_michelle | 13:291ba30c7806 | 42 | }; |
ivo_david_michelle | 10:e7d1801e966a | 43 | |
ivo_david_michelle | 10:e7d1801e966a | 44 | |
ivo_david_michelle | 24:e220fbb70ded | 45 | class Quadcopter |
ivo_david_michelle | 24:e220fbb70ded | 46 | { |
ivo_david_michelle | 6:6f3ffd97d808 | 47 | private: |
ivo_david_michelle | 14:64b06476d943 | 48 | Serial *pc_; // use for printing |
ivo_david_michelle | 24:e220fbb70ded | 49 | |
ivo_david_michelle | 14:64b06476d943 | 50 | // allow for remote communication |
ivo_david_michelle | 14:64b06476d943 | 51 | MRF24J40 *mrf_; |
ivo_david_michelle | 14:64b06476d943 | 52 | int rcIterations_; |
ivo_david_michelle | 14:64b06476d943 | 53 | int rcLength_; |
ivo_david_michelle | 14:64b06476d943 | 54 | Timer rcTimer_; |
ivo_david_michelle | 14:64b06476d943 | 55 | |
ivo_david_michelle | 8:326e7009ce0c | 56 | state state_; |
ivo_david_michelle | 10:e7d1801e966a | 57 | state desiredState_; |
ivo_david_michelle | 10:e7d1801e966a | 58 | controlInput controlInput_; |
ivo_david_michelle | 10:e7d1801e966a | 59 | //pwmOut * _pwmOut; // give address to constructor, than change this value |
ivo_david_michelle | 11:5c54826d23a7 | 60 | motors motorPwm_; |
ivo_david_michelle | 14:64b06476d943 | 61 | PwmOut *motor1_; |
ivo_david_michelle | 24:e220fbb70ded | 62 | |
ivo_david_michelle | 13:291ba30c7806 | 63 | // declarations for IMU use |
ivo_david_michelle | 10:e7d1801e966a | 64 | Adafruit_9DOF dof_; |
ivo_david_michelle | 10:e7d1801e966a | 65 | Adafruit_LSM303_Accel_Unified accel_; |
ivo_david_michelle | 10:e7d1801e966a | 66 | Adafruit_LSM303_Mag_Unified mag_; |
ivo_david_michelle | 10:e7d1801e966a | 67 | Adafruit_L3GD20_Unified gyro_; |
ivo_david_michelle | 10:e7d1801e966a | 68 | sensors_event_t accel_event_; |
ivo_david_michelle | 9:f1bd96708a21 | 69 | sensors_event_t mag_event_; |
ivo_david_michelle | 9:f1bd96708a21 | 70 | sensors_event_t gyro_event_; |
ivo_david_michelle | 9:f1bd96708a21 | 71 | sensors_vec_t orientation_; |
ivo_david_michelle | 24:e220fbb70ded | 72 | offset* initial_offsets_; |
ivo_david_michelle | 9:f1bd96708a21 | 73 | |
ivo_david_michelle | 10:e7d1801e966a | 74 | Serial *pcPntr_; // used to access serial communication |
ivo_david_michelle | 24:e220fbb70ded | 75 | |
ivo_david_michelle | 10:e7d1801e966a | 76 | |
ivo_david_michelle | 10:e7d1801e966a | 77 | double g_; // gravity [m/s^2] |
ivo_david_michelle | 10:e7d1801e966a | 78 | double m_; // mass [kg] |
ivo_david_michelle | 20:efa15ed008b4 | 79 | double l_; // arm lenght [m] |
ivo_david_michelle | 20:efa15ed008b4 | 80 | double gamma_; // relation between moment coefficient and force coefficient. |
ivo_david_michelle | 24:e220fbb70ded | 81 | |
ivo_david_michelle | 10:e7d1801e966a | 82 | // proportional attitude control gains |
ivo_david_michelle | 21:336faf452989 | 83 | double kp_f_; // gain converting radio input to thrust. |
ivo_david_michelle | 10:e7d1801e966a | 84 | double kp_phi_; |
ivo_david_michelle | 10:e7d1801e966a | 85 | double kp_theta_; |
ivo_david_michelle | 10:e7d1801e966a | 86 | double kp_psi_; |
ivo_david_michelle | 10:e7d1801e966a | 87 | |
ivo_david_michelle | 10:e7d1801e966a | 88 | // derivative attitude control gains |
ivo_david_michelle | 10:e7d1801e966a | 89 | double kd_phi_; |
ivo_david_michelle | 10:e7d1801e966a | 90 | double kd_theta_; |
ivo_david_michelle | 10:e7d1801e966a | 91 | double kd_psi_; |
ivo_david_michelle | 10:e7d1801e966a | 92 | |
ivo_david_michelle | 10:e7d1801e966a | 93 | // desired force (will come from joystick) |
ivo_david_michelle | 10:e7d1801e966a | 94 | double F_des_; // desired thrust force (excluding weight compensation) |
ivo_david_michelle | 7:f3f94eadc5b5 | 95 | |
ivo_david_michelle | 14:64b06476d943 | 96 | public: |
ivo_david_michelle | 15:90e07946186f | 97 | Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr); // constructor |
ivo_david_michelle | 7:f3f94eadc5b5 | 98 | |
ivo_david_michelle | 14:64b06476d943 | 99 | void setState(state *source, state *goal); // not sure if needed |
ivo_david_michelle | 8:326e7009ce0c | 100 | void controller(); |
ivo_david_michelle | 8:326e7009ce0c | 101 | void readSensorValues(); |
ivo_david_michelle | 14:64b06476d943 | 102 | |
ivo_david_michelle | 14:64b06476d943 | 103 | void readRc(); |
ivo_david_michelle | 14:64b06476d943 | 104 | |
ivo_david_michelle | 11:5c54826d23a7 | 105 | motors getPwm(); |
ivo_david_michelle | 24:e220fbb70ded | 106 | state getState(); |
ivo_david_michelle | 24:e220fbb70ded | 107 | Adafruit_LSM303_Accel_Unified getAccel(); |
ivo_david_michelle | 24:e220fbb70ded | 108 | Adafruit_LSM303_Mag_Unified getMag(); |
ivo_david_michelle | 24:e220fbb70ded | 109 | Adafruit_L3GD20_Unified getGyro(); |
ivo_david_michelle | 24:e220fbb70ded | 110 | Adafruit_9DOF getIMU(); |
ivo_david_michelle | 24:e220fbb70ded | 111 | offset* getOffset(); |
ivo_david_michelle | 22:92401a4fec13 | 112 | |
ivo_david_michelle | 17:96d0c72e413e | 113 | float thrust; |
ivo_david_michelle | 17:96d0c72e413e | 114 | float yaw; |
ivo_david_michelle | 17:96d0c72e413e | 115 | float pitch; |
ivo_david_michelle | 17:96d0c72e413e | 116 | float roll; |
ivo_david_michelle | 17:96d0c72e413e | 117 | long long id; |
ivo_david_michelle | 24:e220fbb70ded | 118 | |
ivo_david_michelle | 14:64b06476d943 | 119 | //void readJoystick(); |
ivo_david_michelle | 10:e7d1801e966a | 120 | // not implemented yet |
ivo_david_michelle | 13:291ba30c7806 | 121 | //void setGains(); |
ivo_david_michelle | 10:e7d1801e966a | 122 | //void setPwm(); |
ivo_david_michelle | 10:e7d1801e966a | 123 | //void initializePwm(); |
ivo_david_michelle | 6:6f3ffd97d808 | 124 | }; |
ivo_david_michelle | 7:f3f94eadc5b5 | 125 | |
ivo_david_michelle | 6:6f3ffd97d808 | 126 | #endif |