David Lakata / Mbed 2 deprecated QuadTrioRC

Remote control code for https://developer.mbed.org/users/ivo_david_michelle/code/QuadTrio/

Dependencies:   Analog_Joystick Sender mbed

Fork of ESE350-Whack-a-Mole by Eric Berdinis

rc.cpp@10:8981152753a6, 2016-05-01 (annotated)

Committer:
ivo_david_michelle
Date:
Sun May 01 21:58:57 2016 +0000
Revision:
10:8981152753a6
Parent:
9:2a3b3e067847 
calibrate remote control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ivo_david_michelle 7:8714628b62e5 1 #include "mbed.h"
ivo_david_michelle 5:3ad830e95ffd 2 #include "MRF24J40.h"
ivo_david_michelle 5:3ad830e95ffd 3 #include "sender.h"
ivo_david_michelle 5:3ad830e95ffd 4 #include "analog_joystick.h"
ivo_david_michelle 5:3ad830e95ffd 5
ivo_david_michelle 7:8714628b62e5 6 #include <string.h>
ivo_david_michelle 5:3ad830e95ffd 7
ivo_david_michelle 5:3ad830e95ffd 8 // RF tranceiver to link with handheld.
ivo_david_michelle 5:3ad830e95ffd 9 MRF24J40 mrf(p11, p12, p13, p14, p21);
ivo_david_michelle 5:3ad830e95ffd 10
ivo_david_michelle 5:3ad830e95ffd 11 // LEDs you can treat these as variables (led2 = 1 will turn led2 on!)
ivo_david_michelle 5:3ad830e95ffd 12 DigitalOut led1(LED1);
ivo_david_michelle 5:3ad830e95ffd 13 DigitalOut led2(LED2);
ivo_david_michelle 5:3ad830e95ffd 14 DigitalOut led3(LED3);
ivo_david_michelle 5:3ad830e95ffd 15 DigitalOut led4(LED4);
ivo_david_michelle 5:3ad830e95ffd 16
ivo_david_michelle 5:3ad830e95ffd 17 // Timer
ivo_david_michelle 5:3ad830e95ffd 18 Timer timer;
ivo_david_michelle 5:3ad830e95ffd 19
ivo_david_michelle 5:3ad830e95ffd 20 // Serial port for showing RX data.
ivo_david_michelle 5:3ad830e95ffd 21 Serial pc(USBTX, USBRX);
ivo_david_michelle 5:3ad830e95ffd 22
ivo_david_michelle 9:2a3b3e067847 23 int main (void)
ivo_david_michelle 9:2a3b3e067847 24 {
ivo_david_michelle 9:2a3b3e067847 25 long long id = 0;
ivo_david_michelle 5:3ad830e95ffd 26 uint8_t channel = 3;
ivo_david_michelle 5:3ad830e95ffd 27
ivo_david_michelle 5:3ad830e95ffd 28 //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 5:3ad830e95ffd 29 mrf.SetChannel(channel);
ivo_david_michelle 5:3ad830e95ffd 30
ivo_david_michelle 5:3ad830e95ffd 31 //Start the timer
ivo_david_michelle 5:3ad830e95ffd 32 timer.start();
ivo_david_michelle 7:8714628b62e5 33
ivo_david_michelle 5:3ad830e95ffd 34 pc.printf("START\r\n");
ivo_david_michelle 7:8714628b62e5 35
ivo_david_michelle 9:2a3b3e067847 36 char txBuffer[250];
ivo_david_michelle 6:db985df4354b 37
ivo_david_michelle 10:8981152753a6 38
ivo_david_michelle 10:8981152753a6 39 float thrustOffset =0;
ivo_david_michelle 10:8981152753a6 40 float rollOffset =0;
ivo_david_michelle 10:8981152753a6 41 float pitchOffset =0;
ivo_david_michelle 10:8981152753a6 42 float yawOffset =0;
ivo_david_michelle 10:8981152753a6 43
ivo_david_michelle 10:8981152753a6 44 int nSamples = 100;
ivo_david_michelle 10:8981152753a6 45
ivo_david_michelle 10:8981152753a6 46 for (int n = 0; n < nSamples; n++) {
ivo_david_michelle 10:8981152753a6 47 thrustOffset += read_thrust();
ivo_david_michelle 10:8981152753a6 48 yawOffset += read_yaw();
ivo_david_michelle 10:8981152753a6 49 pitchOffset += read_pitch();
ivo_david_michelle 10:8981152753a6 50 rollOffset += read_roll();
ivo_david_michelle 10:8981152753a6 51
ivo_david_michelle 10:8981152753a6 52 }
ivo_david_michelle 10:8981152753a6 53 thrustOffset /= nSamples;
ivo_david_michelle 10:8981152753a6 54 yawOffset /= nSamples;
ivo_david_michelle 10:8981152753a6 55 pitchOffset /= nSamples;
ivo_david_michelle 10:8981152753a6 56 rollOffset /= nSamples;
ivo_david_michelle 10:8981152753a6 57
ivo_david_michelle 10:8981152753a6 58
ivo_david_michelle 9:2a3b3e067847 59 while(1) {
ivo_david_michelle 10:8981152753a6 60 sprintf(txBuffer, "%lld,%f,%f,%f,%f", id, read_thrust()-thrustOffset, read_yaw()-yawOffset, read_pitch()-pitchOffset, read_roll()-rollOffset);
ivo_david_michelle 5:3ad830e95ffd 61 rf_send(mrf, txBuffer, strlen(txBuffer) + 1);
ivo_david_michelle 5:3ad830e95ffd 62 pc.printf("RC Sent: %s \r\n", txBuffer);
ivo_david_michelle 7:8714628b62e5 63
ivo_david_michelle 9:2a3b3e067847 64 id++;
ivo_david_michelle 5:3ad830e95ffd 65 }
ivo_david_michelle 5:3ad830e95ffd 66 }