Revision 8:56bdb0d7002b, committed 2015-03-01

Comitter:

moklumbys

Date:

Sun Mar 01 22:45:31 2015 +0000

Parent:

7:0c31ccba7b3c

Child:

9:588b1618c710

Commit message:

connects to bluetooth at the beginning, allowing to skip calibration of motors every time quadcopter is turned on.

Changed in this revision

--- a/Quadcopter.lib	Wed Feb 25 10:38:30 2015 +0000
+++ b/Quadcopter.lib	Sun Mar 01 22:45:31 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/moklumbys/code/Quadcopter/#22c52af13ac2
+http://developer.mbed.org/users/moklumbys/code/Quadcopter/#8147131fcebd

--- a/main.cpp	Wed Feb 25 10:38:30 2015 +0000
+++ b/main.cpp	Sun Mar 01 22:45:31 2015 +0000
@@ -25,14 +25,14 @@
 //input and output values for pitch
 #define PITCH_IN_MIN -90.0
 #define PITCH_IN_MAX 90.0
-#define PITCH_OUT_MIN -0.2
-#define PITCH_OUT_MAX 0.2
+#define PITCH_OUT_MIN -0.1
+#define PITCH_OUT_MAX 0.1
 
 //input and output values for roll
 #define ROLL_IN_MIN -90.0
 #define ROLL_IN_MAX 90.0
-#define ROLL_OUT_MIN -0.2
-#define ROLL_OUT_MAX 0.2
+#define ROLL_OUT_MIN -0.1
+#define ROLL_OUT_MAX 0.1
 
 //PID intervals/constants
 #define Kc 1.0
@@ -82,7 +82,23 @@
     mpu.setAlpha(0.97);     //set Alpha coefficient for low/high pass filters
     
     quad.setLimits(MIN_CALIBRATE, MAX_CALIBRATE);   //set calibration limits for the system
-    quad.calibrate();   //calibrating motors
+    
+    while(1){
+        if (!bt.readable()){
+            if (!bt.scanf("%f", &val)){
+                bt.scanf("%c", &buff);
+            } else {
+                if (val == 'c'){
+                    pc.printf ("Calibrating motors.\n");
+                    quad.calibrate();   //calibrating motors  
+                }
+                if (val == 's'){
+                    pc.printf ("Skipping calibration.\n");
+                    break;  
+                }
+            }
+        }   
+    }
     
     pitchPID.setInputLimits (PITCH_IN_MIN, PITCH_IN_MAX);   //seting input and output limits for both pitch and roll
     pitchPID.setOutputLimits (PITCH_OUT_MIN, PITCH_OUT_MAX);
@@ -105,6 +121,11 @@
     
     timer.start();                  //will need timer to detect when was the last time the values were updated
     prevTime = timer.read();        //set previous timer value
+    
+    for (int i = 0; i < 4; i++){    //initialise speed to be 0.3
+        speed[i] = 0.2;
+    }   
+    quad.run (speed); 
 //-------------------------------------------START INFINITE LOOP-------------------------------------------------
     while(1) {
         if(bt.readable()){
@@ -115,22 +136,7 @@
                     rollPID.setTunings(val, 0.0, 0.0);  
                     pc.printf ("______________________SET______________________\n"); 
                 }             
-//                if (buff == 'k'){
-//                    bt.scanf("%f", &val);
-//                    pitchPID.setTunings(val, 0.0, 0.0);
-//                    rollPID.setTunings(val, 0.0, 0.0);
-//                }
-//                if (buff == 's'){
-//                    bt.scanf("%f", &val);
-//                    spd = val;
-//                }
-     //       }
         }
-        
-        for (int i = 0; i < 4; i++){    //initialise speed to be 0.0
-            speed[i] = 0.3;
-        }   
-        quad.run (speed); 
             
             mpu.computeAngle (angle, accOffset, gyroOffset, timer.read()-prevTime);  // get angle using all these values