Weston Smallwood / Mbed 2 deprecated IR_Helicopter_Controller

Syma s107g Helicopter controller

Dependencies:   AccelSensor mbed

Fork of IR_demo by jim hamblen

main.cpp@2:2ffc4c0b0b90, 2014-12-02 (annotated)

Committer:
wsmallwood3
Date:
Tue Dec 02 10:35:35 2014 +0000
Revision:
2:2ffc4c0b0b90
Parent:
1:6bdeedba218c 
IR Helicopter Demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
4180_1 0:e0bef6b1aa57 1 #include "mbed.h"
wsmallwood3 2:2ffc4c0b0b90 2 #include "AccelSensor.h"
4180_1 0:e0bef6b1aa57 3 PwmOut IRLED(p21);
wsmallwood3 2:2ffc4c0b0b90 4 AnalogIn UPDOWN(p16);
wsmallwood3 2:2ffc4c0b0b90 5 DigitalOut Flex(LED1);
wsmallwood3 2:2ffc4c0b0b90 6 Serial PC(USBTX, USBRX);
wsmallwood3 2:2ffc4c0b0b90 7 AccelSensor myAccel( p9,p10); //sda and scl
wsmallwood3 1:6bdeedba218c 8
wsmallwood3 1:6bdeedba218c 9 int ROTATION_STATIONARY = 60;
wsmallwood3 2:2ffc4c0b0b90 10 int CAL_BYTE = 52;
wsmallwood3 1:6bdeedba218c 11 int Throttle, LeftRight, FwdBack;
wsmallwood3 2:2ffc4c0b0b90 12 int acceldata[3];
wsmallwood3 1:6bdeedba218c 13
wsmallwood3 1:6bdeedba218c 14 void PutHeader(void)
wsmallwood3 2:2ffc4c0b0b90 15 { // This is the pulse and null for the header before each command
wsmallwood3 1:6bdeedba218c 16 IRLED = 0.5;
wsmallwood3 2:2ffc4c0b0b90 17 wait(.001964); //This is how long the pwm is on
wsmallwood3 1:6bdeedba218c 18 IRLED = 0.0;
wsmallwood3 2:2ffc4c0b0b90 19 wait(.001972); //This is how long the pwm is off
wsmallwood3 1:6bdeedba218c 20 }
wsmallwood3 1:6bdeedba218c 21
wsmallwood3 1:6bdeedba218c 22 void PutFooter(void)
wsmallwood3 2:2ffc4c0b0b90 23 { // This is the pulse and null for the footer at the end of each command
wsmallwood3 1:6bdeedba218c 24 IRLED = 0.5;
wsmallwood3 2:2ffc4c0b0b90 25 wait(.000305); //Pulse length
wsmallwood3 1:6bdeedba218c 26 IRLED = 0.0;
wsmallwood3 2:2ffc4c0b0b90 27 wait(.088682); //Null length
wsmallwood3 1:6bdeedba218c 28 }
wsmallwood3 2:2ffc4c0b0b90 29
wsmallwood3 1:6bdeedba218c 30 void PutZero(void)
wsmallwood3 2:2ffc4c0b0b90 31 { // This is the pulse and null for a digital 0
wsmallwood3 1:6bdeedba218c 32 IRLED = 0.5;
wsmallwood3 1:6bdeedba218c 33 wait(.000305);
wsmallwood3 1:6bdeedba218c 34 IRLED = 0.0;
wsmallwood3 1:6bdeedba218c 35 wait(.000293);
wsmallwood3 1:6bdeedba218c 36 }
wsmallwood3 1:6bdeedba218c 37
wsmallwood3 1:6bdeedba218c 38 void PutOne(void)
wsmallwood3 2:2ffc4c0b0b90 39 { // This is the pulse and null for a digital 1
wsmallwood3 1:6bdeedba218c 40 IRLED = 0.5;
wsmallwood3 1:6bdeedba218c 41 wait(.000306);
wsmallwood3 1:6bdeedba218c 42 IRLED = 0.0;
wsmallwood3 1:6bdeedba218c 43 wait(0.000687);
wsmallwood3 1:6bdeedba218c 44 }
4180_1 0:e0bef6b1aa57 45
wsmallwood3 2:2ffc4c0b0b90 46 //This function takes in values for throttle, yaw and pitch and sends out the command.
wsmallwood3 1:6bdeedba218c 47 void sendCommand(int throttle, int leftRight, int forwardBackward)
wsmallwood3 1:6bdeedba218c 48 {
wsmallwood3 1:6bdeedba218c 49 int b;
wsmallwood3 1:6bdeedba218c 50 PutHeader();
wsmallwood3 2:2ffc4c0b0b90 51 //LEFT/RIGHT control
wsmallwood3 1:6bdeedba218c 52 for (int i = 7; i >=0; i--)
wsmallwood3 1:6bdeedba218c 53 {
wsmallwood3 1:6bdeedba218c 54 b = ((ROTATION_STATIONARY + leftRight) & (1 << i)) >> i;
wsmallwood3 2:2ffc4c0b0b90 55 if (b > 0) PutOne();
wsmallwood3 2:2ffc4c0b0b90 56 else PutZero();
wsmallwood3 1:6bdeedba218c 57 }
wsmallwood3 2:2ffc4c0b0b90 58 //FORWARD/BACKWARD control
wsmallwood3 1:6bdeedba218c 59 for (int i = 7; i >=0; i--)
wsmallwood3 1:6bdeedba218c 60 {
wsmallwood3 1:6bdeedba218c 61 b = ((63 + forwardBackward) & (1 << i)) >> i;
wsmallwood3 2:2ffc4c0b0b90 62 if (b > 0) PutOne();
wsmallwood3 2:2ffc4c0b0b90 63 else PutZero();
wsmallwood3 2:2ffc4c0b0b90 64 }
wsmallwood3 2:2ffc4c0b0b90 65 //THROTTLE control
wsmallwood3 1:6bdeedba218c 66 for (int i = 7; i >=0; i--)
wsmallwood3 1:6bdeedba218c 67 {
wsmallwood3 2:2ffc4c0b0b90 68 b = (throttle & (1 << i)) >> i;
wsmallwood3 2:2ffc4c0b0b90 69 if (b > 0) PutOne();
wsmallwood3 2:2ffc4c0b0b90 70 else PutZero();
wsmallwood3 1:6bdeedba218c 71 }
wsmallwood3 1:6bdeedba218c 72
wsmallwood3 1:6bdeedba218c 73 for (int i = 7; i >=0; i--)
wsmallwood3 1:6bdeedba218c 74 {
wsmallwood3 1:6bdeedba218c 75 b = (CAL_BYTE & (1 << i)) >> i;
wsmallwood3 2:2ffc4c0b0b90 76 if (b > 0) PutOne();
wsmallwood3 2:2ffc4c0b0b90 77 else PutZero();
wsmallwood3 1:6bdeedba218c 78 }
wsmallwood3 1:6bdeedba218c 79 PutFooter();
wsmallwood3 1:6bdeedba218c 80 }
wsmallwood3 1:6bdeedba218c 81
wsmallwood3 2:2ffc4c0b0b90 82 int main() {
wsmallwood3 2:2ffc4c0b0b90 83 Throttle = 45; //0-127
wsmallwood3 2:2ffc4c0b0b90 84 LeftRight = 0; //convert to -60 (right) to 60(Left)
wsmallwood3 2:2ffc4c0b0b90 85 FwdBack = 0; //convert to -60(forward) to 60(Backward)
wsmallwood3 2:2ffc4c0b0b90 86 myAccel.init();
wsmallwood3 2:2ffc4c0b0b90 87 myAccel.active();
wsmallwood3 2:2ffc4c0b0b90 88
wsmallwood3 2:2ffc4c0b0b90 89 IRLED.period(1.0/38000.0); //Drive IR LED data pin with 38Khz PWM Carrier
wsmallwood3 1:6bdeedba218c 90
wsmallwood3 2:2ffc4c0b0b90 91 while(1){
wsmallwood3 2:2ffc4c0b0b90 92 myAccel.readData(acceldata);
wsmallwood3 2:2ffc4c0b0b90 93 LeftRight = int(-60*acceldata[1]/700); //X-axis
wsmallwood3 2:2ffc4c0b0b90 94 FwdBack = int(60*acceldata[0]/700);
wsmallwood3 2:2ffc4c0b0b90 95 if(LeftRight>60){LeftRight=60;}
wsmallwood3 2:2ffc4c0b0b90 96 if(LeftRight<-60){LeftRight=-60;}
wsmallwood3 2:2ffc4c0b0b90 97 if(FwdBack>60){FwdBack=60;}
wsmallwood3 2:2ffc4c0b0b90 98 if(FwdBack<-60){FwdBack=-60;}
wsmallwood3 2:2ffc4c0b0b90 99 if(UPDOWN>0.5)
wsmallwood3 2:2ffc4c0b0b90 100 {Throttle = 85;
wsmallwood3 2:2ffc4c0b0b90 101 Flex=1;}
wsmallwood3 2:2ffc4c0b0b90 102 else{Throttle=45;
wsmallwood3 2:2ffc4c0b0b90 103 Flex=0;}
wsmallwood3 2:2ffc4c0b0b90 104 sendCommand(Throttle, LeftRight, FwdBack);
wsmallwood3 2:2ffc4c0b0b90 105 PC.printf("Throttle:%d, LR:%d, FB:%d\n\r",Throttle,LeftRight,FwdBack);
4180_1 0:e0bef6b1aa57 106 }
4180_1 0:e0bef6b1aa57 107 }