Montvydas Klumbys / Quadcopter

A library used for controlling a quadcopter. It provides an easy to use interface, which allows to mount, calibrate and run motors. It is also able to calibrate the actual speed according to calculated PID roll & pitch difference. I used the original Servo library as ESC modules use the same PWM signal as Servo motors.

Dependents:   QuadcopterProgram

Quadcopter.h@7:5ab77c583ae3, 2015-02-20 (annotated)

Committer:
moklumbys
Date:
Fri Feb 20 00:51:21 2015 +0000
Revision:
7:5ab77c583ae3
Parent:
6:a6b8e508643d
Child:
9:22c52af13ac2
corrected errors in documentation.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
moklumbys 0:341a08dbf9ba 1 #ifndef QUADCOPTER_H
moklumbys 0:341a08dbf9ba 2 #define QUADCOPTER_H
moklumbys 0:341a08dbf9ba 3
moklumbys 0:341a08dbf9ba 4 #include "mbed.h"
moklumbys 0:341a08dbf9ba 5 #include "Servo.h"
moklumbys 0:341a08dbf9ba 6
moklumbys 3:84d246dccb8d 7 //class used for creating a user friendly interface for controlling quadcopter motors
moklumbys 6:a6b8e508643d 8 /**
moklumbys 6:a6b8e508643d 9 *
moklumbys 6:a6b8e508643d 10 *
moklumbys 6:a6b8e508643d 11 * Example:
moklumbys 6:a6b8e508643d 12 * @code
moklumbys 6:a6b8e508643d 13 * #include "mbed.h"
moklumbys 7:5ab77c583ae3 14 * #include "Quadcopter.h"
moklumbys 6:a6b8e508643d 15 * Quadcopter quad (p21, p22, p23, p24); //intance of the Quadcopter class
moklumbys 6:a6b8e508643d 16 *
moklumbys 7:5ab77c583ae3 17 * #define SAMPLE_NUM 50
moklumbys 7:5ab77c583ae3 18 * #define MIN_CALIBRATE 0.3
moklumbys 7:5ab77c583ae3 19 * #define MAX_CALIBRATE 1.0
moklumbys 7:5ab77c583ae3 20 *
moklumbys 6:a6b8e508643d 21 * int main(){
moklumbys 7:5ab77c583ae3 22 * quad.calibrate (MIN_CALIBRATE, MAX_CALIBRATE, SAMPLE_NUM);
moklumbys 7:5ab77c583ae3 23 *
moklumbys 6:a6b8e508643d 24 * float speed[4];
moklumbys 6:a6b8e508643d 25 * for (int i = 0; i < 4; i++){ //initialise speed to be 0.2
moklumbys 6:a6b8e508643d 26 * speed[i] = 0.2;
moklumbys 6:a6b8e508643d 27 * }
moklumbys 6:a6b8e508643d 28 *
moklumbys 6:a6b8e508643d 29 * while(1){
moklumbys 6:a6b8e508643d 30 * quad.run(speed); //run
moklumbys 6:a6b8e508643d 31 * }
moklumbys 6:a6b8e508643d 32 * }
moklumbys 6:a6b8e508643d 33 * @endcode
moklumbys 6:a6b8e508643d 34 *
moklumbys 6:a6b8e508643d 35 */
moklumbys 6:a6b8e508643d 36
moklumbys 3:84d246dccb8d 37
moklumbys 0:341a08dbf9ba 38 class Quadcopter {
moklumbys 0:341a08dbf9ba 39 public:
moklumbys 5:2aa78a442132 40 /**
moklumbys 5:2aa78a442132 41 * Constructor.
moklumbys 5:2aa78a442132 42 *
moklumbys 5:2aa78a442132 43 * @param FL - Front Left motor.
moklumbys 5:2aa78a442132 44 * @param FR - Front Right motor.
moklumbys 5:2aa78a442132 45 * @param BL - Back Left motor.
moklumbys 5:2aa78a442132 46 * @param BR - Back Right motor.
moklumbys 5:2aa78a442132 47 *
moklumbys 5:2aa78a442132 48 */
moklumbys 0:341a08dbf9ba 49 Quadcopter(PinName FL, PinName FR, PinName BL, PinName BR);
moklumbys 3:84d246dccb8d 50
moklumbys 5:2aa78a442132 51 /**
moklumbys 5:2aa78a442132 52 * Function used to calibrate all 4 ESC before actually flying the quadcopter.
moklumbys 5:2aa78a442132 53 * It does not matter which of inputs is min and which is max as function checks that itself.
moklumbys 5:2aa78a442132 54 * If inputs are out of boundaries, min value becomes 0.0, and max value becomes 1.0 automatically
moklumbys 5:2aa78a442132 55 *
moklumbys 5:2aa78a442132 56 * @param min - minimum value for the ESC in range from 0.0 to 1.0.
moklumbys 5:2aa78a442132 57 * @param max - maximum value for the ESC in range from 0.0 to 1.0.
moklumbys 5:2aa78a442132 58 */
moklumbys 0:341a08dbf9ba 59 void calibrate (float min, float max);
moklumbys 3:84d246dccb8d 60
moklumbys 5:2aa78a442132 61 /**
moklumbys 5:2aa78a442132 62 * function for runing motors.
moklumbys 5:2aa78a442132 63 *
moklumbys 5:2aa78a442132 64 * @param speed - array of 4 variables, which corresponds to the speed for all 4 motors. speeds are in range from 0.0 to 1.0.
moklumbys 5:2aa78a442132 65 */
moklumbys 0:341a08dbf9ba 66 void run (float* speed);
moklumbys 3:84d246dccb8d 67
moklumbys 5:2aa78a442132 68 /**
moklumbys 5:2aa78a442132 69 * Function used to calculate the speed at which each of the motors should run to be able to stabilise the quadcopter.
moklumbys 5:2aa78a442132 70 *
moklumbys 5:2aa78a442132 71 * @param speed - current speed for each motor.
moklumbys 5:2aa78a442132 72 * @param actSpeed - actual speed at which motors should run
moklumbys 5:2aa78a442132 73 * @param rollDiff - calculated using PID library function PID::compute();
moklumbys 5:2aa78a442132 74 * @param pitchDiff - calculated using PID library function PID::compute();
moklumbys 5:2aa78a442132 75 *
moklumbys 5:2aa78a442132 76 */
moklumbys 0:341a08dbf9ba 77 void stabilise (float* speed, float* actSpeed, float rollDiff, float pitchDiff);
moklumbys 3:84d246dccb8d 78
moklumbys 0:341a08dbf9ba 79 private:
moklumbys 3:84d246dccb8d 80
moklumbys 3:84d246dccb8d 81 float min_calibrate; //min value at which each motor is calibrated
moklumbys 4:90ce5817667b 82 float max_calibrate; //max value ...
moklumbys 3:84d246dccb8d 83 Servo* motor[4]; //motors are used with Servo library as ESC take the same input as usual Servo motors...
moklumbys 3:84d246dccb8d 84 float map(float x, float in_min, float in_max, float out_min, float out_max); //function for mapping values in the range from min calibrate to max_calibrate
moklumbys 0:341a08dbf9ba 85 };
moklumbys 0:341a08dbf9ba 86
moklumbys 0:341a08dbf9ba 87 #endif