Montvydas Klumbys
Program used to control a quadcopter. It uses a PID library which can be found in: http://developer.mbed.org/cookbook/PID I also uses my own written library for easily controlling quadcopter motors, which can be found in: https://developer.mbed.org/users/moklumbys/code/Quadcopter/ One more library that I used is MPU6050 that was previously written by Erik Olieman but I was able to update it with new functions: https://developer.mbed.org/users/moklumbys/code/MPU6050/
Dependencies: MPU6050 PID Quadcopter Servo mbed
Diff: main.cpp
- Revision:
- 0:894ba50f267c
- Child:
- 1:40ade596b1e3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 18 23:44:09 2015 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+#include "Quadcopter.h"
+
+#define MAX_CALIBRATE 1.0
+#define MIN_CALIBRATE 0.35
+
+#define FL 0 // Front left
+#define FR 1 // Front right
+#define BL 2 // back left
+#define BR 3 // back right
+//--------------------------------ALL THE FUNCTION HEADERS-----------------------
+float map(float x, float in_min, float in_max, float out_min, float out_max);
+//---------------------------------------END-------------------------------------
+
+Quadcopter quad (p21, p22, p23, p24);
+Serial pc(USBTX, USBRX); // tx, rx
+
+int main() {
+ float pitchDiff;
+ float rollDiff;
+ float speed[4];
+ float actSpeed[4];
+
+ quad.calibrate(MIN_CALIBRATE, MAX_CALIBRATE);
+ while(1) {
+ for (float height = 0.0; height < 0.5; height+=0.05){
+ for (int i = 0; i < 4; i++){
+ speed[i] = height;
+ }
+ quad.run (speed);
+ wait(0.1);
+ }
+ for (uint16_t i = 0; i < 600; i++)
+ {
+ rollPID.setProcessValue (imu.roll);
+ rollPID.setProcessValue (imu.pitch);
+
+ pitchDif = pitchPID.compute();
+ rollDif = rollPID.compute();
+
+ quad.stabilise(speed, actSpeed, rollDiff, pitchDiff);
+ quad.run(actSpeed);
+
+ wait (0.01);
+ }
+
+ for (float height = 0.5; height > 0.0; height-=0.05){
+ for (int i = 0; i < 4; i++){
+ speed[i] = height;
+ }
+ quad.run (speed);
+ wait(0.1);
+ }
+ wait(1);
+ }
+}
+
+//-----------------------------Mapping function-----------------------------
+float map(float x, float in_min, float in_max, float out_min, float out_max)
+{
+ return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
\ No newline at end of file