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@46:f1eb22f41ebc, 2013-06-10 (annotated)

Committer:
dereklmc
Date:
Mon Jun 10 02:10:19 2013 +0000
Revision:
46:f1eb22f41ebc
Parent:
43:e2fc699e8e8c
Child:
47:adc1a438aa33
Added more debug 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"
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 0:8681037b9a18 15 const PinName MOTOR1 = PTD4; // Pin used for motor 1.
gabdo 0:8681037b9a18 16 const PinName MOTOR2 = PTA12; // Pin used for motor 2.
gabdo 0:8681037b9a18 17 const PinName MOTOR3 = PTA4; // Pin used for motor 3.
gabdo 0:8681037b9a18 18 const PinName 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 0:8681037b9a18 23 const PinName TXPIN = PTD3; // Pin used for xbee TX.
gabdo 0:8681037b9a18 24 const PinName 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 9:9e0d0ba5b6b1 29 const PinName ACCSDA = PTE25; // Pin for accelerometer SDA line.
gabdo 9:9e0d0ba5b6b1 30 const PinName ACCSCL = PTE24; // Pin for accelerometer SCL line.
gabdo 9:9e0d0ba5b6b1 31
gabdo 9:9e0d0ba5b6b1 32 // PID constants.
gabdo 9:9e0d0ba5b6b1 33 #define DEFAULT_WINDUP_GUARD 20.0f
dereklmc 6:21ae5e53bb5f 34
gabdo 0:8681037b9a18 35 class quadCommand
gabdo 0:8681037b9a18 36 {
gabdo 0:8681037b9a18 37 public:
gabdo 0:8681037b9a18 38 quadCommand(); // Constructor.
gabdo 0:8681037b9a18 39 void run(); // Loop.
gabdo 0:8681037b9a18 40 void rxInput(); // Deal with new input from xbee.
dereklmc 8:72791d8c36b7 41 void updateMotors();
gabdo 43:e2fc699e8e8c 42 void updateCurrent();
gabdo 40:8c01bf294768 43 void sendTelemetry();
dereklmc 20:4cdabb792d16 44
dereklmc 20:4cdabb792d16 45 static const float MOTOR_UPDATE;
dereklmc 20:4cdabb792d16 46
gabdo 0:8681037b9a18 47 private:
gabdo 0:8681037b9a18 48 motor *myMotors[4]; // Array of motor objects.
gabdo 0:8681037b9a18 49 com *myCom; // The com object.
gabdo 0:8681037b9a18 50 sensors *world; // Sensors used to observe the world.
gabdo 0:8681037b9a18 51
gabdo 1:9b90e7de6e09 52 float currentThrottle;
gabdo 1:9b90e7de6e09 53 float currentPitch;
gabdo 1:9b90e7de6e09 54 float currentRoll;
gabdo 1:9b90e7de6e09 55 float currentYaw;
gabdo 0:8681037b9a18 56
gabdo 1:9b90e7de6e09 57 float targetThrottle;
gabdo 1:9b90e7de6e09 58 float targetPitch;
gabdo 1:9b90e7de6e09 59 float targetRoll;
gabdo 1:9b90e7de6e09 60 float targetYaw;
dereklmc 6:21ae5e53bb5f 61
dereklmc 17:d73944c3c945 62 PID pidThrottle;
dereklmc 17:d73944c3c945 63 PID pidPitch;
dereklmc 17:d73944c3c945 64 PID pidRoll;
dereklmc 17:d73944c3c945 65 PID pidYaw;
dereklmc 46:f1eb22f41ebc 66
dereklmc 46:f1eb22f41ebc 67 Ticker sensorProcess;
gabdo 0:8681037b9a18 68 };
gabdo 0:8681037b9a18 69
gabdo 0:8681037b9a18 70 #endif