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.
Diff: main.cpp
- Revision:
- 6:179752756e9f
- Parent:
- 5:818c0668fd2d
- Child:
- 7:9d4313510646
--- a/main.cpp Sat Oct 13 08:59:03 2012 +0000 +++ b/main.cpp Sat Oct 13 11:12:22 2012 +0000 @@ -1,5 +1,4 @@ #include "mbed.h" // Standar Library -#include "LCD.h" // Display #include "LED.h" // LEDs #include "L3G4200D.h" // Gyro (Gyroscope) #include "ADXL345.h" // Acc (Accelerometer) @@ -12,27 +11,25 @@ // initialisation of hardware LED LEDs; -TextLCD LCD(p5, p6, p7, p8, p9, p10, p11, TextLCD::LCD16x2); // RS, RW, E, D0, D1, D2, D3, Typ L3G4200D Gyro(p28, p27); ADXL345 Acc(p28, p27); HMC5883 Comp(p28, p27, GlobalTimer); BMP085 Alt(p28, p27); -//Servo Motor(p12); +Servo Motor(p20); -struct terminal pc(USBTX, USBRX); //Achtung: Treiber auf PC fuer Serial-mbed installieren. - //hier herunterladen https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe +terminal pc(USBTX, USBRX); //Achtung: Treiber auf PC fuer Serial-mbed installieren. hier herunterladen https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe #define PI 3.1415926535897932384626433832795 #define Rad2Deg 57.295779513082320876798154814105 int main() { - // LCD/LED init - LCD.cls(); // Display l�schen - LCD.printf("Flybed v0.2"); + pc.baud(57600); + pc.cls(); + // init screen + pc.locate(10,5); + pc.printf("Flybed v0.2"); LEDs.roll(2); - pc.baud(57600); - // variables for loop float Gyro_data[3]; int Acc_data[3]; @@ -43,7 +40,7 @@ float Comp_angle = 0; float tempangle = 0; - //Motor.initialize(); + Motor.initialize(); //Kompass kalibrieren --> Problem fremde Magnetfelder! //Comp.AutoCalibration = 1; short MagRawMin[3]= {-400, -400, -400}; //Gespeicherte Werte verwenden @@ -79,17 +76,16 @@ angle[2] += (Comp_angle - angle[2])/50 - Gyro_data[2] *dt/15000000.0; tempangle -= Gyro_data[2] *dt/15000000.0; - int i =345; // LCD output pc.locate(10,5); // first line pc.printf("Y:%2.1f %2.1fm ", angle[2], Alt.CalcAltitude(Alt.Pressure)); //LCD.printf("%2.1f %2.1f %2.1f ", Comp.RawMag[0], Comp.RawMag[1], Comp.RawMag[2]); pc.locate(10,8); // second line - pc.printf("R:%2.1f P:%2.1f ", angle[0], angle[1]); + pc.printf("Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", angle[0], angle[1], angle[2]); //LCD.printf("R:%2.1f P:%2.1f ", Comp_angle, tempangle); //LCD.printf("%2.1f %2.1f %2.1f ", Comp.Mag[0], Comp.Mag[1], Comp.Mag[2]); - //Motor = 1000 + abs(Acc_data[1]); // set new motor speed + Motor = 1000 + 5*abs(angle[1]); // set new motor speed //LED hin und her int ledset = 0;