Prosper Van / Mbed 2 deprecated quadCommand2

added gy80 dcm

Dependencies:   mbed DCM_AHRS_GY80 PID MMA8451Q

Fork of quadCommand by Greg Abdo

quadCommand/quadCommand.h@52:24590a45b807, 2013-06-11 (annotated)

Committer:
gabdo
Date:
Tue Jun 11 01:24:31 2013 +0000
Revision:
52:24590a45b807
Parent:
51:60258b84ebab
Child:
53:cce34958f952
Working code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gabdo 0:8681037b9a18 1 /************************* quadCommand.h *********************************/
gabdo 0:8681037b9a18 2 /* */
gabdo 0:8681037b9a18 3 /*************************************************************************/
gabdo 0:8681037b9a18 4
gabdo 0:8681037b9a18 5 #ifndef QUAD_COMMAND_H
gabdo 0:8681037b9a18 6 #define QUAD_COMMAND_H
gabdo 0:8681037b9a18 7
gabdo 0:8681037b9a18 8 #include "mbed.h"
gabdo 0:8681037b9a18 9 #include "motor.h"
gabdo 0:8681037b9a18 10 #include "com.h"
gabdo 0:8681037b9a18 11 #include "sensors.h"
oprospero 10:af3be8c6aad7 12 #include "PID.h"
gabdo 0:8681037b9a18 13
gabdo 9:9e0d0ba5b6b1 14 // Motor constants.
gabdo 50:197a18e49eb4 15 #define MOTOR1 PTD4 // Pin used for motor 1.
gabdo 50:197a18e49eb4 16 #define MOTOR2 PTA12 // Pin used for motor 2.
gabdo 50:197a18e49eb4 17 #define MOTOR3 PTA4 // Pin used for motor 3.
gabdo 50:197a18e49eb4 18 #define MOTOR4 PTA5 // Pin used for motor 4.
gabdo 0:8681037b9a18 19
gabdo 9:9e0d0ba5b6b1 20 // Xbee constants.
oprospero 10:af3be8c6aad7 21 // Alternative Pins
oprospero 10:af3be8c6aad7 22 // RX = PTA1, TX PTA2
gabdo 50:197a18e49eb4 23 #define TXPIN PTD3 // Pin used for xbee TX.
gabdo 50:197a18e49eb4 24 #define RXPIN PTD2 // Pin used for xbee RX.
gabdo 0:8681037b9a18 25
oprospero 10:af3be8c6aad7 26
gabdo 9:9e0d0ba5b6b1 27 // Sensor constants.
gabdo 9:9e0d0ba5b6b1 28 #define MMA8451_I2C_ADDRESS (0x1d<<1) // Address of I2C accelerometer.
gabdo 50:197a18e49eb4 29 #define ACCSDA PTE25 // Pin for accelerometer SDA line.
gabdo 50:197a18e49eb4 30 #define ACCSCL PTE24 // Pin for accelerometer SCL line.
gabdo 52:24590a45b807 31 #define SENSSOR_DELAY 100.0f
gabdo 44:a30ba531f614 32
gabdo 9:9e0d0ba5b6b1 33 // PID constants.
gabdo 49:f202fb0d4128 34 #define DEFAULT_WINDUP_GUARD 20.0f
gabdo 52:24590a45b807 35 #define MOTOR_UPDATE 100.0f
dereklmc 6:21ae5e53bb5f 36
gabdo 0:8681037b9a18 37 class quadCommand
gabdo 0:8681037b9a18 38 {
gabdo 0:8681037b9a18 39 public:
gabdo 0:8681037b9a18 40 quadCommand(); // Constructor.
gabdo 49:f202fb0d4128 41 void run(); // The main loop.
gabdo 49:f202fb0d4128 42 void rxInput(); // Receive data from the Xbee.
gabdo 49:f202fb0d4128 43 void updateMotors(); // Send PID values to the motors.
gabdo 49:f202fb0d4128 44 void updateCurrent(); // Update the current telemetry.
gabdo 49:f202fb0d4128 45 void sendTelemetry(); // Transmit the current telemetry.
dereklmc 20:4cdabb792d16 46
gabdo 0:8681037b9a18 47 private:
gabdo 0:8681037b9a18 48 motor *myMotors[4]; // Array of motor objects.
gabdo 50:197a18e49eb4 49 com *myCom; // The com object for Xbee communication.
gabdo 0:8681037b9a18 50 sensors *world; // Sensors used to observe the world.
gabdo 0:8681037b9a18 51
gabdo 50:197a18e49eb4 52 PID pidThrottle; // PID for throttle.
gabdo 50:197a18e49eb4 53 PID pidPitch; // PID for pitch.
gabdo 50:197a18e49eb4 54 PID pidRoll; // PID for roll.
gabdo 50:197a18e49eb4 55 PID pidYaw; // PID for yaw.
gabdo 45:088885f4a13d 56
gabdo 50:197a18e49eb4 57 Ticker sensorProcess; // Timer for getting sensor data.
gabdo 50:197a18e49eb4 58 Ticker motorProcess; // Timer for updating the motors.
gabdo 51:60258b84ebab 59 Ticker sendProcess; // Timer for sending data through the Xbee.
gabdo 0:8681037b9a18 60
gabdo 50:197a18e49eb4 61 float currentThrottle; // Current throttle.
gabdo 50:197a18e49eb4 62 float currentPitch; // Current pitch.
gabdo 50:197a18e49eb4 63 float currentRoll; // Current roll.
gabdo 50:197a18e49eb4 64 float currentYaw; // Current yaw.
dereklmc 6:21ae5e53bb5f 65
gabdo 50:197a18e49eb4 66 float targetThrottle; // Desired throttle.
gabdo 50:197a18e49eb4 67 float targetPitch; // Desired pitch.
gabdo 50:197a18e49eb4 68 float targetRoll; // Desired roll.
gabdo 50:197a18e49eb4 69 float targetYaw; // Desired yaw.
gabdo 0:8681037b9a18 70 };
gabdo 0:8681037b9a18 71
gabdo 0:8681037b9a18 72 #endif