David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.h@9:f1bd96708a21, 2016-04-02 (annotated)

Committer:
ivo_david_michelle
Date:
Sat Apr 02 14:54:46 2016 +0000
Revision:
9:f1bd96708a21
Parent:
8:326e7009ce0c
Child:
10:e7d1801e966a
implemented printing and sensor reading

Who changed what in which revision?

UserRevisionLine numberNew 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 6:6f3ffd97d808 7
ivo_david_michelle 7:f3f94eadc5b5 8
ivo_david_michelle 7:f3f94eadc5b5 9 struct state {
ivo_david_michelle 8:326e7009ce0c 10 double phi;
ivo_david_michelle 8:326e7009ce0c 11 double theta;
ivo_david_michelle 8:326e7009ce0c 12 double psi;
ivo_david_michelle 6:6f3ffd97d808 13 };
ivo_david_michelle 7:f3f94eadc5b5 14
ivo_david_michelle 7:f3f94eadc5b5 15 struct force {
ivo_david_michelle 8:326e7009ce0c 16 double fx;
ivo_david_michelle 8:326e7009ce0c 17 double y;
ivo_david_michelle 8:326e7009ce0c 18 double fz;
ivo_david_michelle 7:f3f94eadc5b5 19 };
ivo_david_michelle 7:f3f94eadc5b5 20
ivo_david_michelle 7:f3f94eadc5b5 21 struct offset {
ivo_david_michelle 7:f3f94eadc5b5 22 double x_offset;
ivo_david_michelle 7:f3f94eadc5b5 23 double y_offset;
ivo_david_michelle 7:f3f94eadc5b5 24 double z_offset;
ivo_david_michelle 7:f3f94eadc5b5 25 };
ivo_david_michelle 7:f3f94eadc5b5 26
ivo_david_michelle 6:6f3ffd97d808 27 class Quadcopter
ivo_david_michelle 6:6f3ffd97d808 28 {
ivo_david_michelle 6:6f3ffd97d808 29 private:
ivo_david_michelle 8:326e7009ce0c 30 state state_;
ivo_david_michelle 8:326e7009ce0c 31 force force_;
ivo_david_michelle 7:f3f94eadc5b5 32 //pwmOut * _pwmOut; // give address to constructor, than change this value
ivo_david_michelle 7:f3f94eadc5b5 33
ivo_david_michelle 8:326e7009ce0c 34 Adafruit_9DOF dof_;
ivo_david_michelle 8:326e7009ce0c 35 Adafruit_LSM303_Accel_Unified accel_;
ivo_david_michelle 8:326e7009ce0c 36 Adafruit_LSM303_Mag_Unified mag_;
ivo_david_michelle 8:326e7009ce0c 37 Adafruit_L3GD20_Unified gyro_;
ivo_david_michelle 7:f3f94eadc5b5 38
ivo_david_michelle 9:f1bd96708a21 39 sensors_event_t accel_event_;
ivo_david_michelle 9:f1bd96708a21 40 sensors_event_t mag_event_;
ivo_david_michelle 9:f1bd96708a21 41 sensors_event_t gyro_event_;
ivo_david_michelle 9:f1bd96708a21 42 sensors_vec_t orientation_;
ivo_david_michelle 9:f1bd96708a21 43
ivo_david_michelle 8:326e7009ce0c 44 offset offsetAngRate_;
ivo_david_michelle 8:326e7009ce0c 45 offset offsetAttitude_;
ivo_david_michelle 9:f1bd96708a21 46 Serial *pcPntr_;
ivo_david_michelle 7:f3f94eadc5b5 47
ivo_david_michelle 7:f3f94eadc5b5 48
ivo_david_michelle 6:6f3ffd97d808 49 public:
ivo_david_michelle 6:6f3ffd97d808 50 Quadcopter();
ivo_david_michelle 7:f3f94eadc5b5 51
ivo_david_michelle 8:326e7009ce0c 52 void setState(double phi, double theta, double psi);
ivo_david_michelle 8:326e7009ce0c 53
ivo_david_michelle 9:f1bd96708a21 54 /*state getState() {
ivo_david_michelle 8:326e7009ce0c 55 return state_;
ivo_david_michelle 9:f1bd96708a21 56 } */
ivo_david_michelle 9:f1bd96708a21 57
ivo_david_michelle 8:326e7009ce0c 58 void setPwm();
ivo_david_michelle 8:326e7009ce0c 59 void initializePwm();
ivo_david_michelle 8:326e7009ce0c 60 void controller();
ivo_david_michelle 8:326e7009ce0c 61 void setState();
ivo_david_michelle 8:326e7009ce0c 62 void readSensorValues();
ivo_david_michelle 9:f1bd96708a21 63 void initAllSensors();
ivo_david_michelle 9:f1bd96708a21 64 void setSerial(Serial *pcPntr){pcPntr_=pcPntr;};
ivo_david_michelle 9:f1bd96708a21 65 void print(char * myString);
ivo_david_michelle 6:6f3ffd97d808 66 };
ivo_david_michelle 7:f3f94eadc5b5 67
ivo_david_michelle 6:6f3ffd97d808 68 #endif