Revision 7:9d4313510646, committed 2012-10-15
- Comitter:
- maetugr
- Date:
- Mon Oct 15 17:23:06 2012 +0000
- Parent:
- 6:179752756e9f
- Child:
- 8:d25ecdcdbeb5
- Commit message:
- RC vorgelegt und vor Tickereinbau
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PC/PC.cpp Mon Oct 15 17:23:06 2012 +0000
@@ -0,0 +1,18 @@
+#include "PC.h"
+#include "mbed.h"
+
+PC::PC(PinName tx, PinName rx) : Serial(tx, rx)
+{
+}
+
+
+void PC::cls()
+{
+ printf("\x1B[2J");
+}
+
+
+void PC::locate(int Spalte, int Zeile)
+{
+ printf("\x1B[%d;%dH", Zeile + 1, Spalte + 1);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PC/PC.h Mon Oct 15 17:23:06 2012 +0000
@@ -0,0 +1,13 @@
+#include "mbed.h"
+
+#ifndef PC_H
+#define PC_H
+
+class PC : public Serial
+{
+ public:
+ PC(PinName tx, PinName rx);
+ void cls();
+ void locate(int column, int row);
+};
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RC/RC_Channel.cpp Mon Oct 15 17:23:06 2012 +0000
@@ -0,0 +1,25 @@
+#include "RC_Channel.h"
+#include "mbed.h"
+
+RC_Channel::RC_Channel(PinName mypin) : myinterrupt(mypin)
+{
+ myinterrupt.rise(this, &RC_Channel::rise);
+ myinterrupt.fall(this, &RC_Channel::fall);
+}
+
+int RC_Channel::read()
+{
+ return time;
+}
+
+void RC_Channel::rise()
+{
+ timer.start();
+}
+
+void RC_Channel::fall()
+{
+ timer.stop();
+ time = timer.read_us();
+ timer.reset();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RC/RC_Channel.h Mon Oct 15 17:23:06 2012 +0000
@@ -0,0 +1,20 @@
+#ifndef RC_CHANNEL_H
+#define RC_CHANNEL_H
+
+#include "mbed.h"
+
+class RC_Channel
+{
+ public:
+ RC_Channel(PinName mypin); // noooo p19/p20!!!!
+ int read();
+
+ private:
+ InterruptIn myinterrupt;
+ void rise();
+ void fall();
+ Timer timer;
+ int time;
+};
+
+#endif
\ No newline at end of file
--- a/Servo/Servo.cpp Sat Oct 13 11:12:22 2012 +0000
+++ b/Servo/Servo.cpp Mon Oct 15 17:23:06 2012 +0000
@@ -7,7 +7,7 @@
void Servo::initialize() {
// initialize ESC
Enable(2000,20000); // full throttle
- wait(0.01); // for 2 secs
+ wait(0.01); // for 0.01 secs
SetPosition(1000); // low throttle
}
--- a/Terminal-Emulation/terminal.cpp Sat Oct 13 11:12:22 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,19 +0,0 @@
-
-#include "terminal.h"
-#include "mbed.h"
-
-terminal::terminal(PinName tx, PinName rx) : Serial(tx, rx)
- {
- }
-
-
-void terminal::cls()
- {
- printf("\x1B[2J");
- }
-
-
-void terminal::locate(int Spalte, int Zeile)
- {
- printf("\x1B[%d;%dH", Zeile + 1, Spalte + 1);
- }
--- a/Terminal-Emulation/terminal.h Sat Oct 13 11:12:22 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,14 +0,0 @@
-
-#include "mbed.h"
-
-#ifndef MBED_TERMINAL_H
-#define MBED_TERMINAL_H
-
-class terminal : public Serial
- {
- public:
- terminal(PinName tx, PinName rx);
- void cls();
- void locate(int column, int row);
- };
-#endif
--- a/main.cpp Sat Oct 13 11:12:22 2012 +0000
+++ b/main.cpp Mon Oct 15 17:23:06 2012 +0000
@@ -1,11 +1,12 @@
-#include "mbed.h" // Standar Library
-#include "LED.h" // LEDs
-#include "L3G4200D.h" // Gyro (Gyroscope)
-#include "ADXL345.h" // Acc (Accelerometer)
-#include "HMC5883.h" // Comp (Compass)
-#include "BMP085.h" // Alt (Altitude sensor)
-#include "Servo.h" // Motor
-#include "terminal.h"
+#include "mbed.h" // Standard Library
+#include "LED.h" // LEDs framework for blinking ;)
+#include "L3G4200D.h" // Gyro (Gyroscope)
+#include "ADXL345.h" // Acc (Accelerometer)
+#include "HMC5883.h" // Comp (Compass)
+#include "BMP085.h" // Alt (Altitude sensor)
+#include "RC_Channel.h" // RemoteControl Chnnels with PPM
+#include "Servo.h" // Motor PPM
+#include "PC.h" // Serial Port via USB for debugging
Timer GlobalTimer;
@@ -15,9 +16,12 @@
ADXL345 Acc(p28, p27);
HMC5883 Comp(p28, p27, GlobalTimer);
BMP085 Alt(p28, p27);
-Servo Motor(p20);
+//Servo Motor_front(p18);
+Servo Motor_left(p17);
+Servo Motor_right(p19);
+Servo Motor_back(p20);
-terminal pc(USBTX, USBRX); //Achtung: Treiber auf PC fuer Serial-mbed installieren. hier herunterladen https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe
+PC pc(USBTX, USBRX); //Achtung: Treiber auf PC fuer Serial-mbed installieren. hier herunterladen https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe
#define PI 3.1415926535897932384626433832795
#define Rad2Deg 57.295779513082320876798154814105
@@ -40,7 +44,9 @@
float Comp_angle = 0;
float tempangle = 0;
- Motor.initialize();
+ Motor_left.initialize();
+ Motor_right.initialize();
+ Motor_back.initialize();
//Kompass kalibrieren --> Problem fremde Magnetfelder!
//Comp.AutoCalibration = 1;
short MagRawMin[3]= {-400, -400, -400}; //Gespeicherte Werte verwenden
@@ -67,8 +73,8 @@
Comp_angle = Comp.getAngle(Comp.Mag[0], Comp.Mag[1]);
// meassure dt
- dt = GlobalTimer.read_us() - time_loop; // Zeit in us seit letzter loop
- time_loop = GlobalTimer.read_us(); // setze aktuelle zeit f�r n�chste messung
+ dt = GlobalTimer.read_us() - time_loop; // time in us since last loop
+ time_loop = GlobalTimer.read_us(); // set new time for next measurement
// calculate angles for roll, pitch an yaw
angle[0] += (Acc_angle[0] - angle[0])/50 + Gyro_data[0] *dt/15000000.0;
@@ -77,23 +83,28 @@
tempangle -= Gyro_data[2] *dt/15000000.0;
// LCD output
- pc.locate(10,5); // first line
- pc.printf("Y:%2.1f %2.1fm ", angle[2], Alt.CalcAltitude(Alt.Pressure));
- //LCD.printf("%2.1f %2.1f %2.1f ", Comp.RawMag[0], Comp.RawMag[1], Comp.RawMag[2]);
- pc.locate(10,8); // second line
+ pc.locate(10,5);
+ pc.printf("dt:%d %6.1fm ", dt, Alt.CalcAltitude(Alt.Pressure));
+ pc.locate(10,8);
pc.printf("Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", angle[0], angle[1], angle[2]);
- //LCD.printf("R:%2.1f P:%2.1f ", Comp_angle, tempangle);
- //LCD.printf("%2.1f %2.1f %2.1f ", Comp.Mag[0], Comp.Mag[1], Comp.Mag[2]);
+ pc.locate(10,10);
+ pc.printf("Debug_Yaw: Comp:%6.1f Gyro:%6.1f ", Comp_angle, tempangle);
+ pc.locate(10,12);
+ pc.printf("Comp_Raw: %6.1f %6.1f %6.1f ", Comp.RawMag[0], Comp.RawMag[1], Comp.RawMag[2]);
+ pc.locate(10,13);
+ pc.printf("Comp_Mag: %6.1f %6.1f %6.1f ", Comp.Mag[0], Comp.Mag[1], Comp.Mag[2]);
- Motor = 1000 + 5*abs(angle[1]); // set new motor speed
+ // Read RC data
+ //RC[0].read() // TODO: RC daten lesen und einberechnen!
+
+ // PID Regelung
- //LED hin und her
- int ledset = 0;
- if (angle[0] < 0) ledset += 1; else ledset += 8;
- if (angle[1] < 0) ledset += 2; else ledset += 4;
- LEDs = ledset;
+ // set new motor speeds
+ Motor_left = 1000 + 5*abs(angle[1]);
+ Motor_right = 1000 + 5*abs(angle[1]);
+ Motor_back = 1000 + 5*abs(angle[1]);
- //LEDs.rollnext();
- //wait(0.1);
+ LEDs.rollnext();
+ wait(0.1);
}
}
Matthias Grob
