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@64:2b6399fe00f6, 2013-07-28 (annotated)

Committer:
oprospero
Date:
Sun Jul 28 21:46:54 2013 +0000
Revision:
64:2b6399fe00f6
Parent:
63:f4cb482ac5d4 
working state;

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"
oprospero 63:f4cb482ac5d4 11 #include "DCM.h"
oprospero 10:af3be8c6aad7 12 #include "PID.h"
gabdo 0:8681037b9a18 13
oprospero 63:f4cb482ac5d4 14 #define TRIM_VALUE .05
gabdo 55:bca9c9e92da6 15
gabdo 9:9e0d0ba5b6b1 16 // Motor constants.
gabdo 50:197a18e49eb4 17 #define MOTOR1 PTD4 // Pin used for motor 1.
gabdo 50:197a18e49eb4 18 #define MOTOR2 PTA12 // Pin used for motor 2.
gabdo 50:197a18e49eb4 19 #define MOTOR3 PTA4 // Pin used for motor 3.
gabdo 56:a550127695b2 20 #define MOTOR4 PTA5 // Pin used for motor 4.
gabdo 0:8681037b9a18 21
gabdo 9:9e0d0ba5b6b1 22 // Xbee constants.
gabdo 56:a550127695b2 23 #define TXPIN PTA2 // Pin used for xbee TX.
gabdo 56:a550127695b2 24 #define RXPIN PTA1 // 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 44:a30ba531f614 31
gabdo 9:9e0d0ba5b6b1 32 // PID constants.
gabdo 56:a550127695b2 33 #define DEFAULT_WINDUP_GUARD 5.0 // Integral windup.
oprospero 62:70fc58d4be9b 34 #define PID_P 1.0 // Proportional gain.
gabdo 56:a550127695b2 35 #define PID_I 0.0 // Integral gain.
oprospero 63:f4cb482ac5d4 36 #define PID_D 0.5 // Derivative gain.
gabdo 59:9dfd9169a5e7 37 #define MOTOR_UPDATE 150.0 // Motor update speed.
dereklmc 6:21ae5e53bb5f 38
gabdo 0:8681037b9a18 39 class quadCommand
gabdo 0:8681037b9a18 40 {
gabdo 0:8681037b9a18 41 public:
gabdo 56:a550127695b2 42 quadCommand(); // Constructor.
gabdo 56:a550127695b2 43 void run(); // The main loop.
gabdo 56:a550127695b2 44 void rxInput(); // Receive data from the Xbee.
gabdo 56:a550127695b2 45 void updateMotors(); // Send PID values to the motors.
gabdo 56:a550127695b2 46 void updateCurrent(); // Update the current telemetry.
dereklmc 20:4cdabb792d16 47
gabdo 0:8681037b9a18 48 private:
gabdo 56:a550127695b2 49 motor *myMotors[4]; // Array of motor objects.
gabdo 56:a550127695b2 50 com *myCom; // The com object for Xbee communication.
oprospero 63:f4cb482ac5d4 51 DCM *world; // Sensors used to observe the world.
gabdo 55:bca9c9e92da6 52
gabdo 58:983801808a94 53 PID *pidPitch; // PID for pitch.
gabdo 58:983801808a94 54 PID *pidRoll; // PID for roll.
gabdo 58:983801808a94 55 PID *pidYaw; // PID for yaw.
gabdo 0:8681037b9a18 56
oprospero 63:f4cb482ac5d4 57 Ticker motorProcess; // Timer for updating the motors.
oprospero 62:70fc58d4be9b 58 Timer timer;
oprospero 63:f4cb482ac5d4 59
gabdo 56:a550127695b2 60 float currentThrottle; // Current throttle.
gabdo 56:a550127695b2 61 float currentPitch; // Current pitch.
gabdo 56:a550127695b2 62 float currentRoll; // Current roll.
gabdo 56:a550127695b2 63 float currentYaw; // Current yaw.
gabdo 0:8681037b9a18 64
gabdo 56:a550127695b2 65 float pitchTrim; // Trim the pitch.
gabdo 56:a550127695b2 66 float rollTrim; // Trim the roll.
gabdo 59:9dfd9169a5e7 67 float yawTrim; // Trim the yaw.
dereklmc 6:21ae5e53bb5f 68
gabdo 56:a550127695b2 69 float targetThrottle; // Desired throttle.
gabdo 56:a550127695b2 70 float targetPitch; // Desired pitch.
gabdo 56:a550127695b2 71 float targetRoll; // Desired roll.
gabdo 56:a550127695b2 72 float targetYaw; // Desired yaw.
oprospero 63:f4cb482ac5d4 73 float G_Dt;
oprospero 63:f4cb482ac5d4 74 int timestamp_old;
oprospero 63:f4cb482ac5d4 75 int timestamp;
gabdo 0:8681037b9a18 76 };
gabdo 0:8681037b9a18 77
gabdo 0:8681037b9a18 78 #endif