NOT FINISHED YET!!!
My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Dependencies:
mbed
MODI2C
Diff: main.cpp
- Revision:
- 0:0c4fafa398b4
- Child:
- 1:5a64632b1eb9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,49 @@
+#include "mbed.h"
+#include "LCD.h" // Display
+#include "LED.h" // LEDs
+#include "L3G4200D.h" // Gyro
+#include "ADXL345.h" // Acc
+
+PinName kl[4] = {LED1, LED2, LED3, LED4};
+LED Led();
+TextLCD LCD(p5, p6, p7, p8, p9, p10, p11, TextLCD::LCD16x2); // RS, RW, E, D0, D1, D2, D3, Typ
+
+// Sensor initialisation
+Gyro Gyro(p28, p27);
+ADXL345 Acc(p28, p27);
+
+int main() {
+
+ LCD.printf("FlyBed v0.1");
+
+ wait(2);
+ int j = -1;
+ int Gyro_data[3];
+ int Acc_data[3];
+
+ Acc.setPowerControl(0x00);
+ Acc.setDataFormatControl(0x0B);
+ Acc.setDataRate(ADXL345_3200HZ);
+ Acc.setPowerControl(MeasurementMode);
+
+ while(1) {
+
+ Gyro.read(Gyro_data);
+ Acc.getOutput(Acc_data);
+
+ //LCD.cls(); // Display löschen
+ LCD.locate(0,0);
+ LCD.printf("%d %d %d |%d ", Gyro_data[0],Gyro_data[1],Gyro_data[2],Gyro.readTemp()); //roll(x) pitch(y) yaw(z)
+ LCD.locate(1,0);
+ //LCD.printf("%d|%d|%d %d", gmitt[0]/j,gmitt[1]/j,gmitt[2]/j,gyro.readTemp()); //roll pitch yaw
+ LCD.locate(1,0);
+ LCD.printf("%d %d %d ", (int16_t)Acc_data[0],(int16_t)Acc_data[1],(int16_t)Acc_data[2]);
+
+ j++;
+
+ //Led[j%4] = !Led[j%4];
+
+ wait(0.1);
+
+ }
+}
Matthias Grob
