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:
- 16:74a6531350b5
- Parent:
- 15:753c5d6a63b3
- Child:
- 17:e096e85f6c36
--- a/main.cpp Mon Oct 29 16:43:10 2012 +0000 +++ b/main.cpp Wed Oct 31 14:44:07 2012 +0000 @@ -74,7 +74,7 @@ // calculate new motorspeeds co = Controller.compute() - 1000; - if (RC[2].read() > 1100) // zu SICHERHEIT! zum testen (ersetzt armed unarmed) + if (RC[2].read() > 1100) // zu SICHERHEIT! zum testen (später ersetzen armed unarmed) { /*Motor[0] = RC[2].read()+((RC[0].read() - 1500)/10.0)+40; Motor[2] = RC[2].read()-((RC[0].read() - 1500)/10.0)-40;*/ @@ -86,14 +86,14 @@ Motor[2] = 1000; Motor[3] = 1000; } - /*Motor[0] = 1000 + (100 - (angle[1] * 500/90)) * (RC[2].read() - 1000) / 1000; + /*Motor[0] = 1000 + (100 - (angle[1] * 500/90)) * (RC[2].read() - 1000) / 1000; // test für erste reaktion der motoren entgegen der Auslenkung Motor[1] = 1000 + (100 - (angle[0] * 500/90)) * (RC[2].read() - 1000) / 1000; Motor[2] = 1000 + (100 + (angle[1] * 500/90)) * (RC[2].read() - 1000) / 1000; Motor[3] = 1000 + (100 + (angle[0] * 500/90)) * (RC[2].read() - 1000) / 1000;*/ } int main() { // main programm only used for initialisation and debug output - NVIC_SetPriority(TIMER3_IRQn, 2); // set priorty of tickers below hardware interrupts + NVIC_SetPriority(TIMER3_IRQn, 1); // set priorty of tickers below hardware interrupts (standard priority is 0) //for(int i=0;i<3;i++) Controller.setInputLimits(-90.0, 90.0);