ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: main.cpp
- Revision:
- 12:422963993df5
- Parent:
- 11:5c54826d23a7
- Child:
- 13:291ba30c7806
diff -r 5c54826d23a7 -r 422963993df5 main.cpp --- a/main.cpp Sat Apr 02 18:01:36 2016 +0000 +++ b/main.cpp Sat Apr 02 21:40:37 2016 +0000 @@ -7,14 +7,9 @@ #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); - +// initialze serial connection Serial pc(USBTX, USBRX); -Serial *pcPntr=&pc; +Serial *pcPntr=&pc; // pointer used to enable serial connection with print method in Quadcopter class // 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); @@ -22,48 +17,20 @@ 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 +// get desired values from joystick (to be implemented) // 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(); @@ -71,6 +38,8 @@ pc.printf("Aborting"); return 0; }; + + // Duty cycle at beginning must be 50% pc.printf("Starting up ESCs\n\r"); motor_1 = 0.5; motor_2 = 0.5; @@ -90,55 +59,16 @@ myQuadcopter.readSensorValues(); myQuadcopter.controller(); - /* - accel.getEvent(&accel_event); - if (dof.accelGetOrientation(&accel_event, &orientation)) { - //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)) { - //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. motors motorsPwm=myQuadcopter.getPwm(); motor_2=motorsPwm.m2; motor_4=motorsPwm.m4; - - // 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); }