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
Revision 32:e2e02338805e, committed 2013-04-02
- Comitter:
- maetugr
- Date:
- Tue Apr 02 16:57:56 2013 +0000
- Parent:
- 31:872d8b8c7812
- Child:
- 33:fd98776b6cc7
- Commit message:
- version of the testvideo: http://www.youtube.com/watch?v=UMTZ6K-T_kc
Changed in this revision
--- a/LED.lib Sat Mar 30 09:17:44 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-LED#eb31b1718ac1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LED/LED.cpp Tue Apr 02 16:57:56 2013 +0000
@@ -0,0 +1,60 @@
+#include "LED.h"
+#include "mbed.h"
+
+LED::LED() : Led(LED1, LED2, LED3, LED4){
+ roller = 0;
+}
+
+void LED::shownumber(int number) {
+ Led = number;
+}
+
+void LED::ride(int times = 1) {
+ Led = 0;
+ for (int j = 0; j < times; j++) {
+ for(int i=0; i < 4; i++) {
+ Led = 1 << i;
+ wait(0.2);
+ }
+ }
+ Led = 0;
+}
+
+void LED::roll(int times = 1) {
+ Led = 0;
+ for (int j = 0; j < (times*2); j++) {
+ for(int roller = 1; roller <= 4; roller++) {
+ tilt(roller);
+ wait(0.1);
+ }
+ }
+ roller = 0;
+ Led = 0;
+}
+
+void LED::rollnext() {
+ if (roller >= 4)
+ roller = 0;
+ roller++;
+ tilt(roller);
+}
+
+void LED::tilt(int index) {
+ Led = Led ^ (1 << (index-1)); //XOR
+}
+
+void LED::set(int index) {
+ Led = Led | (1 << (index-1)); //OR
+}
+
+void LED::reset(int index) {
+ Led = Led & ~(1 << (index-1)); //OR
+}
+
+int LED::check(int index) {
+ return Led & (1 << (index-1));
+}
+
+void LED::operator=(int value) {
+ Led = value;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LED/LED.h Tue Apr 02 16:57:56 2013 +0000
@@ -0,0 +1,27 @@
+// by MaEtUgR
+
+#ifndef LED_H
+#define LED_H
+
+#include "mbed.h"
+
+class LED {
+
+ public:
+ LED();
+ void shownumber(int number);
+ void ride(int times);
+ void roll(int times);
+ void rollnext();
+ void tilt(int index);
+ void set(int index);
+ void reset(int index);
+ int check(int index);
+ void operator=(int value);
+
+ private:
+ BusOut Led;
+ int roller;
+};
+
+#endif
\ No newline at end of file
--- a/main.cpp Sat Mar 30 09:17:44 2013 +0000
+++ b/main.cpp Tue Apr 02 16:57:56 2013 +0000
@@ -14,7 +14,7 @@
#define RATE 0.002 // speed of the interrupt for Sensors and PID
#define PPM_FREQU 495 // Hz Frequency of PPM Signal for ESCs (maximum <500Hz)
#define MAXPITCH 40 // maximal angle from horizontal that the PID is aming for
-#define RC_SENSITIVITY 20
+#define RC_SENSITIVITY 30
#define YAWSPEED 2 // maximal speed of yaw rotation in degree per Rate
float P = 1.5; // PID values
@@ -30,8 +30,8 @@
// initialisation of hardware (see includes for more info)
LED LEDs;
#ifdef PC_CONNECTED
- PC pc(USBTX, USBRX, 115200); // USB
- //PC pc(p9, p10, 115200); // Bluetooth
+ //PC pc(USBTX, USBRX, 115200); // USB
+ PC pc(p9, p10, 115200); // Bluetooth
#endif
LocalFileSystem local("local"); // Create the local filesystem under the name "local"
//FILE *Logger;
Matthias Grob
