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@49:f202fb0d4128, 2013-06-10 (annotated)

Committer:
gabdo
Date:
Mon Jun 10 04:43:30 2013 +0000
Revision:
49:f202fb0d4128
Parent:
48:75d06c707414
Child:
50:197a18e49eb4
Few cleanup mods

;

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 49:f202fb0d4128 32 #define SENSSORDELAY 10.0f
gabdo 49:f202fb0d4128 33 #define SENDDELAY 10.0f
gabdo 44:a30ba531f614 34
gabdo 9:9e0d0ba5b6b1 35 // PID constants.
gabdo 49:f202fb0d4128 36 #define DEFAULT_WINDUP_GUARD 20.0f
gabdo 49:f202fb0d4128 37 #define MOTOR_UPDATE 10.0f
dereklmc 6:21ae5e53bb5f 38
gabdo 0:8681037b9a18 39 class quadCommand
gabdo 0:8681037b9a18 40 {
gabdo 0:8681037b9a18 41 public:
gabdo 0:8681037b9a18 42 quadCommand(); // Constructor.
gabdo 49:f202fb0d4128 43 void run(); // The main loop.
gabdo 49:f202fb0d4128 44 void rxInput(); // Receive data from the Xbee.
gabdo 49:f202fb0d4128 45 void updateMotors(); // Send PID values to the motors.
gabdo 49:f202fb0d4128 46 void updateCurrent(); // Update the current telemetry.
gabdo 49:f202fb0d4128 47 void sendTelemetry(); // Transmit the current telemetry.
dereklmc 20:4cdabb792d16 48
gabdo 0:8681037b9a18 49 private:
gabdo 0:8681037b9a18 50 motor *myMotors[4]; // Array of motor objects.
gabdo 0:8681037b9a18 51 com *myCom; // The com object.
gabdo 0:8681037b9a18 52 sensors *world; // Sensors used to observe the world.
gabdo 0:8681037b9a18 53
gabdo 45:088885f4a13d 54 Ticker sensorProcess;
gabdo 49:f202fb0d4128 55 Ticker sendProcess;
gabdo 49:f202fb0d4128 56 Ticker motorProcess; // Control timer
gabdo 45:088885f4a13d 57
gabdo 1:9b90e7de6e09 58 float currentThrottle;
gabdo 1:9b90e7de6e09 59 float currentPitch;
gabdo 1:9b90e7de6e09 60 float currentRoll;
gabdo 1:9b90e7de6e09 61 float currentYaw;
gabdo 0:8681037b9a18 62
gabdo 1:9b90e7de6e09 63 float targetThrottle;
gabdo 1:9b90e7de6e09 64 float targetPitch;
gabdo 1:9b90e7de6e09 65 float targetRoll;
gabdo 1:9b90e7de6e09 66 float targetYaw;
dereklmc 6:21ae5e53bb5f 67
dereklmc 17:d73944c3c945 68 PID pidThrottle;
dereklmc 17:d73944c3c945 69 PID pidPitch;
dereklmc 17:d73944c3c945 70 PID pidRoll;
dereklmc 17:d73944c3c945 71 PID pidYaw;
gabdo 0:8681037b9a18 72 };
gabdo 0:8681037b9a18 73
gabdo 0:8681037b9a18 74 #endif