Diff: DX6iController.h

Revision:

0:6374902c761b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DX6iController.h	Mon Mar 30 19:26:24 2015 +0000
@@ -0,0 +1,75 @@
+/**
+ * Institution: Georgia Institute of Technology - ECE Department - Senior Design II
+ * Team: AH3
+ * Created: 3/24/2015
+ * Last Edit: 3/26/2015
+ * By: Taylor Andrews, Luke Panayioto
+**/
+
+#ifndef _DX6I_CONTROLLER_H_
+#define _DX6I_CONTROLLER_H_
+
+#include "mbed.h"
+
+class DX6iController {
+private:
+    DigitalOut _pwmPin;
+
+    /**
+     * The signal received by the quadcopter is an array of nine PWM signals (called a PPM signal), and is
+     * exactly 22 ms long.  Each segment in the array has a specific purpose.  The first four correspond to
+     * the throttle, roll, pitch, and yaw, respectively.
+     *
+     * The fifth and sixth correspond to the stability and enable modes.  The stability mode configures the
+     * quadcopter's internal stabilization systems through a combination of onboard accelerometers and
+     * gyroscopes.  The stability mode has two presets, what I just label as "full" and "partial", in
+     * addition to an "off" setting (below it is initialized with full stability enabled, and it is highly
+     * encouraged to keep it there).  The Enable mode simply allows the quadcopter to throttle, and only
+     * has two settings "on" and "off".  Obviously, this must be configured for "on", unless it is utilized
+     * in some fashion as to prevent some sort of catastrophic collision.
+     * 
+     */
+
+    // Channels: [Remainder] [Throttle] [Roll] [Pitch] [Yaw] [Stability] [Enable] ([Extra_1] [Extra_2]
+
+    // delay between signals in microseconds (µSec)
+    int pulseInterval;     // 400 µSec
+    int nChannels;   //channels must be at least 7
+    
+    // uptime of each signal in microseconds     low  / mid / high                                  // Corrections to PPM signal order
+    int Throttle_Uptime;           //1   700 / 1100 / 1500                                    // Throttle
+    int Roll_Uptime;              //2   700 / 1100 / 1500 (R/L)                              // Roll
+    int Pitch_Uptime;             //3   770 / 1170 / 1550 (B/F)                              // Pitch
+    int Yaw_Uptime;               //4   700 / 1090 / 1500 (R/L)                              // Yaw
+    int Stabilize_Uptime;         //5  LLLL / MMMM / 1500 (3,2,1)                            
+    int Enable_Uptime;            //6   700 / ---- / 1500 (Off/On) Note: Bind I Button      
+    int Extra_Uptime;             //7  LLLL / 1100 / HHHH                                    // IDK
+    int Extra2_Uptime;            //8  LLLL / 1100 / HHHH                                    // IDK
+    int Remainder_Uptime;
+    
+    // Trim values
+    int mThrottleTrim;
+    int mRollTrim;
+    int mPitchTrim;
+    int mYawTrim;
+    
+    void updateRemainder();
+    
+public:
+    DX6iController(PinName pwmPin);
+    ~DX6iController();
+    
+    void generateSignal(int externalDelay);
+    
+    void updateThrottle(int newThrottle);
+    void updatePitch(int newPitch);
+    void updateRoll(int newRoll);
+    void updateYaw(int newYaw);
+    
+    void updateThrottleTrim(int newThrottleTrim);
+    void updatePitchTrim(int newPitchTrim);
+    void updateRollTrim(int newRollTrim);
+    void updateYawTrim(int newYawTrim);
+};
+
+#endif // _DX6I_CONTROLLER_H_
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