NOT FINISHED YET!!!
My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Dependencies:
mbed
MODI2C
Diff: main.cpp
- Revision:
- 19:40c252b4a792
- Parent:
- 18:c8c09a3913ba
- Child:
- 20:e116e596e540
--- a/main.cpp Sat Nov 03 07:44:07 2012 +0000
+++ b/main.cpp Sat Nov 03 10:48:18 2012 +0000
@@ -8,7 +8,6 @@
#include "RC_Channel.h" // RemoteControl Chnnels with PPM
#include "Servo_PWM.h" // Motor PPM using PwmOut
#include "PID.h" // PID Library by Aaron Berk
-#include "IntCtrl.h" // Interrupt Control by Roland Elmiger
#define PI 3.1415926535897932384626433832795 // ratio of a circle's circumference to its diameter
#define RAD2DEG 57.295779513082320876798154814105 // ratio between radians and degree (360/2Pi)
@@ -25,7 +24,7 @@
// initialisation of hardware (see includes for more info)
LED LEDs;
-PC pc(USBTX, USBRX, 57600); // TODO: Testen ?!!! 115.200
+PC pc(USBTX, USBRX, 115200);
L3G4200D Gyro(p28, p27);
ADXL345 Acc(p28, p27);
HMC5883 Comp(p28, p27);
@@ -132,6 +131,12 @@
//pc.printf("Comp_scale: %6.4f %6.4f %6.4f ", Comp.scale[0], Comp.scale[1], Comp.scale[2]); no more accessible its private
pc.locate(10,15);
pc.printf("PID Test: %6.1f", co);
+ pc.locate(10,16);
+ pc.printf("Gyro_data: X:%6.1f Y:%6.1f Z:%6.1f", Gyro.data[0], Gyro.data[1], Gyro.data[2]);
+ pc.locate(10,17);
+ pc.printf("Acc_data: X:%6.1f Y:%6.1f Z:%6.1f", Acc.data[0], Acc.data[1], Acc.data[2]);
+ pc.locate(10,18);
+ pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle());
pc.locate(10,19);
pc.printf("RC0: %4d :[", RC[0].read());
Matthias Grob
