Oskar Weigl
/
Quadcopter_copy
Very early flyable code.
GlobalsNDefines.h@0:9fcb3bf5c231, 2011-10-01 (annotated)
- Committer:
- madcowswe
- Date:
- Sat Oct 01 12:57:23 2011 +0000
- Revision:
- 0:9fcb3bf5c231
This edit is for testing: not flyable
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
madcowswe | 0:9fcb3bf5c231 | 1 | /* |
madcowswe | 0:9fcb3bf5c231 | 2 | #ifndef GlobalsNDefines_H_ |
madcowswe | 0:9fcb3bf5c231 | 3 | #define GlobalsNDefines_H_ |
madcowswe | 0:9fcb3bf5c231 | 4 | */ |
madcowswe | 0:9fcb3bf5c231 | 5 | |
madcowswe | 0:9fcb3bf5c231 | 6 | #include "mbed.h" |
madcowswe | 0:9fcb3bf5c231 | 7 | #include "RF12B.h" |
madcowswe | 0:9fcb3bf5c231 | 8 | |
madcowswe | 0:9fcb3bf5c231 | 9 | Serial pc(USBTX, USBRX); // tx, rx |
madcowswe | 0:9fcb3bf5c231 | 10 | I2C i2c(p28, p27); |
madcowswe | 0:9fcb3bf5c231 | 11 | //Rfm12b rfm12b(p5, p6, p7, p8, p11); |
madcowswe | 0:9fcb3bf5c231 | 12 | RF12B radiolink(p5, p6, p7, p8, p9); |
madcowswe | 0:9fcb3bf5c231 | 13 | DigitalOut myled(LED1); |
madcowswe | 0:9fcb3bf5c231 | 14 | DigitalOut motormaxled(LED2); |
madcowswe | 0:9fcb3bf5c231 | 15 | DigitalIn Nkill(p10); |
madcowswe | 0:9fcb3bf5c231 | 16 | Ticker watchdog; |
madcowswe | 0:9fcb3bf5c231 | 17 | |
madcowswe | 0:9fcb3bf5c231 | 18 | PwmOut PWMfront(p23); |
madcowswe | 0:9fcb3bf5c231 | 19 | PwmOut PWMrear(p22); |
madcowswe | 0:9fcb3bf5c231 | 20 | PwmOut PWMleft(p24); |
madcowswe | 0:9fcb3bf5c231 | 21 | PwmOut PWMright(p21); |
madcowswe | 0:9fcb3bf5c231 | 22 | |
madcowswe | 0:9fcb3bf5c231 | 23 | AnalogIn altsensor(p15); |
madcowswe | 0:9fcb3bf5c231 | 24 | |
madcowswe | 0:9fcb3bf5c231 | 25 | #define RPSPUNIT -0.00126766 |
madcowswe | 0:9fcb3bf5c231 | 26 | #define NOPOWER 0.063 |
madcowswe | 0:9fcb3bf5c231 | 27 | #define ACCADDRESS 0x4C |
madcowswe | 0:9fcb3bf5c231 | 28 | #define LOOPTIME 0.01 |
madcowswe | 0:9fcb3bf5c231 | 29 | #define ACCDECAY 50 |
madcowswe | 0:9fcb3bf5c231 | 30 | #define YAWCAP 1.5f |
madcowswe | 0:9fcb3bf5c231 | 31 | #define COMMANDPERIOD 0.1; |
madcowswe | 0:9fcb3bf5c231 | 32 | #define ALTGAIN |
madcowswe | 0:9fcb3bf5c231 | 33 | //#define ALTSENSOR |
madcowswe | 0:9fcb3bf5c231 | 34 | |
madcowswe | 0:9fcb3bf5c231 | 35 | float gyrcalib[] = {0.0, 0.0, 0.0}; |
madcowswe | 0:9fcb3bf5c231 | 36 | bool loopalive = 1; |
madcowswe | 0:9fcb3bf5c231 | 37 | bool commandsalive = 1; |
madcowswe | 0:9fcb3bf5c231 | 38 | |
madcowswe | 0:9fcb3bf5c231 | 39 | |
madcowswe | 0:9fcb3bf5c231 | 40 | //#endif |