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:
- 19:40c252b4a792
- Parent:
- 18:c8c09a3913ba
- Child:
- 20:e116e596e540
diff -r c8c09a3913ba -r 40c252b4a792 main.cpp --- a/main.cpp Sat Nov 03 07:44:07 2012 +0000 +++ b/main.cpp Sat Nov 03 10:48:18 2012 +0000 @@ -8,7 +8,6 @@ #include "RC_Channel.h" // RemoteControl Chnnels with PPM #include "Servo_PWM.h" // Motor PPM using PwmOut #include "PID.h" // PID Library by Aaron Berk -#include "IntCtrl.h" // Interrupt Control by Roland Elmiger #define PI 3.1415926535897932384626433832795 // ratio of a circle's circumference to its diameter #define RAD2DEG 57.295779513082320876798154814105 // ratio between radians and degree (360/2Pi) @@ -25,7 +24,7 @@ // initialisation of hardware (see includes for more info) LED LEDs; -PC pc(USBTX, USBRX, 57600); // TODO: Testen ?!!! 115.200 +PC pc(USBTX, USBRX, 115200); L3G4200D Gyro(p28, p27); ADXL345 Acc(p28, p27); HMC5883 Comp(p28, p27); @@ -132,6 +131,12 @@ //pc.printf("Comp_scale: %6.4f %6.4f %6.4f ", Comp.scale[0], Comp.scale[1], Comp.scale[2]); no more accessible its private pc.locate(10,15); pc.printf("PID Test: %6.1f", co); + pc.locate(10,16); + pc.printf("Gyro_data: X:%6.1f Y:%6.1f Z:%6.1f", Gyro.data[0], Gyro.data[1], Gyro.data[2]); + pc.locate(10,17); + pc.printf("Acc_data: X:%6.1f Y:%6.1f Z:%6.1f", Acc.data[0], Acc.data[1], Acc.data[2]); + pc.locate(10,18); + pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle()); pc.locate(10,19); pc.printf("RC0: %4d :[", RC[0].read());