Syma s107g Helicopter controller

Dependencies:   AccelSensor mbed

Fork of IR_demo by jim hamblen

Files at this revision

API Documentation at this revision

Comitter:
wsmallwood3
Date:
Tue Dec 02 10:35:35 2014 +0000
Parent:
1:6bdeedba218c
Commit message:
IR Helicopter Demo

Changed in this revision

AccelSensor.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
diff -r 6bdeedba218c -r 2ffc4c0b0b90 AccelSensor.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AccelSensor.lib	Tue Dec 02 10:35:35 2014 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/Alegrowin/code/AccelSensor/#9e97f68b2654
diff -r 6bdeedba218c -r 2ffc4c0b0b90 main.cpp
--- a/main.cpp	Wed Nov 26 19:10:21 2014 +0000
+++ b/main.cpp	Tue Dec 02 10:35:35 2014 +0000
@@ -1,34 +1,34 @@
-//http://www.kerrywong.com/2012/08/27/reverse-engineering-the-syma-s107g-ir-protocol/
 #include "mbed.h"
- 
+#include "AccelSensor.h"
 PwmOut IRLED(p21);
-//IR send and receive demo
+AnalogIn UPDOWN(p16);
+DigitalOut Flex(LED1);
+Serial PC(USBTX, USBRX);
+AccelSensor myAccel( p9,p10); //sda and scl
 
 int ROTATION_STATIONARY = 60;
-int CAL_BYTE = 52; 
- 
+int CAL_BYTE = 52;
 int Throttle, LeftRight, FwdBack;
-
-
+int acceldata[3];
 
  void PutHeader(void)
-{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+{   // This is the pulse and null for the header before each command
 IRLED = 0.5;
-wait(.001964);
+wait(.001964); //This is how long the pwm is on
 IRLED = 0.0;
-wait(.001972);
+wait(.001972); //This is how long the pwm is off
 }
 
  void PutFooter(void)
-{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+{   // This is the pulse and null for the footer at the end of each command
 IRLED = 0.5;
-wait(.000305);
+wait(.000305); //Pulse length
 IRLED = 0.0;
-wait(.088682);
+wait(.088682); //Null length
 }
- 
+
  void PutZero(void)
-{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+{   // This is the pulse and null for a digital 0
 IRLED = 0.5;
 wait(.000305);
 IRLED = 0.0;
@@ -36,119 +36,72 @@
 }
 
 void PutOne(void)
-{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+{   // This is the pulse and null for a digital 1
 IRLED = 0.5;
 wait(.000306);
 IRLED = 0.0;
 wait(0.000687);
 }
 
+//This function takes in values for throttle, yaw and pitch and sends out the command.
 void sendCommand(int throttle, int leftRight, int forwardBackward)
 {
   int b;
- 
   PutHeader();
-   
+  //LEFT/RIGHT  control
   for (int i = 7; i >=0; i--)
   {
     b = ((ROTATION_STATIONARY + leftRight) & (1 << i)) >> i;    
-    if (b > 0) PutOne(); else PutZero();
+    if (b > 0) PutOne(); 
+    else PutZero();
   }
-   
+  //FORWARD/BACKWARD  control
   for (int i = 7; i >=0; i--)
   {
     b = ((63 + forwardBackward) & (1 << i)) >> i;    
-    if (b > 0) PutOne(); else PutZero();
-  } 
-   
+    if (b > 0) PutOne(); 
+    else PutZero();
+  }
+  //THROTTLE  control
   for (int i = 7; i >=0; i--)
   {
-    b = (throttle & (1 << i)) >> i;    
-    if (b > 0) PutOne(); else PutZero();
+    b = (throttle & (1 << i)) >> i;
+    if (b > 0) PutOne(); 
+    else PutZero();
   }
    
   for (int i = 7; i >=0; i--)
   {
     b = (CAL_BYTE & (1 << i)) >> i;    
-    if (b > 0) PutOne(); else PutZero();
+    if (b > 0) PutOne(); 
+    else PutZero();
   } 
-  
   PutFooter();
-  
-}
-
-void timerISR()
-{
-  //read control values from potentiometers
-  //Throttle = analogRead(0);
-  //LeftRight = analogRead(1);
-  //FwdBack = analogRead(2);
-   
-  //Throttle = Throttle / 4; //convert to 0 to 255
-  Throttle = 65;
-  //LeftRight = LeftRight / 8 - 64; //convert to -64 to 63
-  LeftRight = 0; //convert to -64 to 63
-  //FwdBack = FwdBack / 4 - 128; //convert to -128 to 127
-  FwdBack = 0; //convert to -128 to 127
-   
-  sendCommand(Throttle, LeftRight, FwdBack);
 }
 
- 
-void Thrust(void) //Test function to test flying.
-{
-    //Header
-    PutHeader();
-    //First Byte 
-    PutZero(); //1
-    PutOne(); //2
-    PutZero(); //3
-    PutZero(); //4
-    PutOne(); //5
-    PutOne(); //6
-    PutZero(); //7
-    PutZero(); //8
-    //Second Byte 
-    PutZero(); //1
-    PutZero(); //2
-    PutOne(); //3
-    PutOne(); //4
-    PutOne(); //5
-    PutOne(); //6
-    PutOne(); //7
-    PutOne(); //8
-    //Third Byte 
-    PutZero(); //1
-    PutOne(); //2
-    PutZero(); //3
-    PutZero(); //4
-    PutZero(); //5
-    PutOne(); //6
-    PutOne(); //7
-    PutOne(); //8
-    //Fourth Byte 
-    PutZero(); //1
-    PutOne(); //2
-    PutOne(); //3
-    PutZero(); //4
-    PutOne(); //5
-    PutOne(); //6
-    PutOne(); //7
-    PutZero(); //8
-    //Footer
-    PutFooter();
-} 
+int main() {
+Throttle = 45; //0-127
+LeftRight = 0; //convert to -60 (right) to 60(Left)
+FwdBack = 0; //convert to -60(forward) to 60(Backward)
+myAccel.init();
+myAccel.active();
+
+    IRLED.period(1.0/38000.0); //Drive IR LED data pin with 38Khz PWM Carrier 
 
-
-
- 
-int main() {
-    //IR Transmit code
-    IRLED.period(1.0/38000.0);
-    //Drive IR LED data pin with 38Khz PWM Carrier 
-    while(1) {
-    //Thrust();
-      timerISR();
-    
+    while(1){
+    myAccel.readData(acceldata);
+    LeftRight = int(-60*acceldata[1]/700); //X-axis
+    FwdBack = int(60*acceldata[0]/700);
+    if(LeftRight>60){LeftRight=60;}
+    if(LeftRight<-60){LeftRight=-60;}
+    if(FwdBack>60){FwdBack=60;}
+    if(FwdBack<-60){FwdBack=-60;}
+    if(UPDOWN>0.5)
+        {Throttle = 85;
+        Flex=1;}
+    else{Throttle=45;
+        Flex=0;}
+    sendCommand(Throttle, LeftRight, FwdBack);
+    PC.printf("Throttle:%d, LR:%d, FB:%d\n\r",Throttle,LeftRight,FwdBack);
     }
 }