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@9:22c52af13ac2, 2015-02-25 (annotated)

Committer:
moklumbys
Date:
Wed Feb 25 00:55:08 2015 +0000
Revision:
9:22c52af13ac2
Parent:
7:5ab77c583ae3
Child:
10:8147131fcebd
corrected min & max calibration values - now they are initialised as previously if someone didn't use calibrate at the beginning, then mapping was done from 0.0 to 0.0... which is obviously stupid.

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 MIN_CALIBRATE 0.3
moklumbys 7:5ab77c583ae3 18 * #define MAX_CALIBRATE 1.0
moklumbys 7:5ab77c583ae3 19 *
moklumbys 6:a6b8e508643d 20 * int main(){
moklumbys 9:22c52af13ac2 21 * quad.setLimits (MIN_CALIBRATE, MAX_CALIBRATE);
moklumbys 9:22c52af13ac2 22 * quad.calibrate ();
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 9:22c52af13ac2 53 */
moklumbys 9:22c52af13ac2 54 void calibrate ();
moklumbys 9:22c52af13ac2 55
moklumbys 9:22c52af13ac2 56 /**
moklumbys 9:22c52af13ac2 57 * Function used to calibrate all 4 ESC before actually flying the quadcopter.
moklumbys 5:2aa78a442132 58 * It does not matter which of inputs is min and which is max as function checks that itself.
moklumbys 5:2aa78a442132 59 * If inputs are out of boundaries, min value becomes 0.0, and max value becomes 1.0 automatically
moklumbys 5:2aa78a442132 60 *
moklumbys 5:2aa78a442132 61 * @param min - minimum value for the ESC in range from 0.0 to 1.0.
moklumbys 5:2aa78a442132 62 * @param max - maximum value for the ESC in range from 0.0 to 1.0.
moklumbys 5:2aa78a442132 63 */
moklumbys 9:22c52af13ac2 64 void setLimits(float min, float max);
moklumbys 3:84d246dccb8d 65
moklumbys 5:2aa78a442132 66 /**
moklumbys 5:2aa78a442132 67 * function for runing motors.
moklumbys 5:2aa78a442132 68 *
moklumbys 5:2aa78a442132 69 * @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 70 */
moklumbys 0:341a08dbf9ba 71 void run (float* speed);
moklumbys 3:84d246dccb8d 72
moklumbys 5:2aa78a442132 73 /**
moklumbys 5:2aa78a442132 74 * Function used to calculate the speed at which each of the motors should run to be able to stabilise the quadcopter.
moklumbys 5:2aa78a442132 75 *
moklumbys 5:2aa78a442132 76 * @param speed - current speed for each motor.
moklumbys 5:2aa78a442132 77 * @param actSpeed - actual speed at which motors should run
moklumbys 5:2aa78a442132 78 * @param rollDiff - calculated using PID library function PID::compute();
moklumbys 5:2aa78a442132 79 * @param pitchDiff - calculated using PID library function PID::compute();
moklumbys 5:2aa78a442132 80 *
moklumbys 5:2aa78a442132 81 */
moklumbys 0:341a08dbf9ba 82 void stabilise (float* speed, float* actSpeed, float rollDiff, float pitchDiff);
moklumbys 3:84d246dccb8d 83
moklumbys 9:22c52af13ac2 84 float getLowerLimit();
moklumbys 9:22c52af13ac2 85 float getUpperLimit();
moklumbys 0:341a08dbf9ba 86 private:
moklumbys 3:84d246dccb8d 87
moklumbys 3:84d246dccb8d 88 float min_calibrate; //min value at which each motor is calibrated
moklumbys 9:22c52af13ac2 89 float max_calibrate; //max value ...
moklumbys 3:84d246dccb8d 90 Servo* motor[4]; //motors are used with Servo library as ESC take the same input as usual Servo motors...
moklumbys 3:84d246dccb8d 91 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 92 };
moklumbys 0:341a08dbf9ba 93
moklumbys 0:341a08dbf9ba 94 #endif