Matthias Grob / Mbed 2 deprecated FlyBed1

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

main.cpp@2:93f703d2c4d7, 2012-10-02 (annotated)

Committer:
maetugr
Date:
Tue Oct 02 17:53:40 2012 +0000
Revision:
2:93f703d2c4d7
Parent:
1:5a64632b1eb9
Child:
3:a97f1d874f4e
erstes experiment mit funktionierendem filter (nur eine Achse und noch nicht optimal)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 1:5a64632b1eb9 1 #include "mbed.h" // Standar Library
maetugr 0:0c4fafa398b4 2 #include "LCD.h" // Display
maetugr 0:0c4fafa398b4 3 #include "LED.h" // LEDs
maetugr 0:0c4fafa398b4 4 #include "L3G4200D.h" // Gyro
maetugr 0:0c4fafa398b4 5 #include "ADXL345.h" // Acc
maetugr 1:5a64632b1eb9 6 #include "Servo.h" // Motor
maetugr 0:0c4fafa398b4 7
maetugr 1:5a64632b1eb9 8 // initialisation
maetugr 1:5a64632b1eb9 9 LED LEDs;
maetugr 0:0c4fafa398b4 10 TextLCD LCD(p5, p6, p7, p8, p9, p10, p11, TextLCD::LCD16x2); // RS, RW, E, D0, D1, D2, D3, Typ
maetugr 1:5a64632b1eb9 11 L3G4200D Gyro(p28, p27);
maetugr 0:0c4fafa398b4 12 ADXL345 Acc(p28, p27);
maetugr 1:5a64632b1eb9 13 Servo Motor(p12);
maetugr 0:0c4fafa398b4 14
maetugr 2:93f703d2c4d7 15 Timer GlobalTimer;
maetugr 2:93f703d2c4d7 16
maetugr 2:93f703d2c4d7 17 #define PI 3.1415926535897932384626433832795
maetugr 2:93f703d2c4d7 18 #define Rad2Deg 57.295779513082320876798154814105
maetugr 2:93f703d2c4d7 19
maetugr 0:0c4fafa398b4 20 int main() {
maetugr 1:5a64632b1eb9 21 // LCD/LED init
maetugr 1:5a64632b1eb9 22 LCD.cls(); // Display löschen
maetugr 2:93f703d2c4d7 23 LCD.printf("FlyBed v0.2");
maetugr 1:5a64632b1eb9 24 LEDs.roll(2);
maetugr 1:5a64632b1eb9 25 //LEDs = 15;
maetugr 0:0c4fafa398b4 26
maetugr 2:93f703d2c4d7 27 float Gyro_data[3];
maetugr 0:0c4fafa398b4 28 int Acc_data[3];
maetugr 2:93f703d2c4d7 29 int Gyro_angle[3] = {0,0,0};
maetugr 2:93f703d2c4d7 30 unsigned long dt = 0;
maetugr 2:93f703d2c4d7 31 unsigned long time_loop = 0;
maetugr 0:0c4fafa398b4 32
maetugr 2:93f703d2c4d7 33 Motor.initialize();
maetugr 2:93f703d2c4d7 34
maetugr 2:93f703d2c4d7 35 float angle = 0;//TEMP
maetugr 2:93f703d2c4d7 36 int j = 0;
maetugr 2:93f703d2c4d7 37 //float drift = 0;
maetugr 2:93f703d2c4d7 38 GlobalTimer.start();
maetugr 0:0c4fafa398b4 39 while(1) {
maetugr 2:93f703d2c4d7 40 j++;
maetugr 0:0c4fafa398b4 41
maetugr 0:0c4fafa398b4 42 Gyro.read(Gyro_data);
maetugr 2:93f703d2c4d7 43 Acc.read(Acc_data);
maetugr 2:93f703d2c4d7 44
maetugr 2:93f703d2c4d7 45 // Acc data angle
maetugr 2:93f703d2c4d7 46 float Acc_abs = sqrt(pow((float)Acc_data[0],2) + pow((float)Acc_data[1],2) + pow((float)Acc_data[2],2));
maetugr 2:93f703d2c4d7 47 //float Acc_angle = Rad2Deg * acos((float)Acc_data[2]/Acc_abs);
maetugr 2:93f703d2c4d7 48 float Acc_angle = 0.9 * Rad2Deg * atan((float)Acc_data[1]/(float)Acc_data[2]);
maetugr 2:93f703d2c4d7 49
maetugr 2:93f703d2c4d7 50 //angle = (0.98)*(angle + Gyro_data[0] * 0.1) + (0.02)*(Acc_angle);
maetugr 2:93f703d2c4d7 51
maetugr 2:93f703d2c4d7 52 /*float messfrequenz = 10;
maetugr 2:93f703d2c4d7 53 float geschwindigkeit = Gyro_data[0] - drift;
maetugr 2:93f703d2c4d7 54 drift += (geschwindigkeit * messfrequenz * 0.3);
maetugr 2:93f703d2c4d7 55 angle += (geschwindigkeit * messfrequenz);
maetugr 2:93f703d2c4d7 56 angle += ((Acc_angle - angle) * messfrequenz * 0.1);*/
maetugr 2:93f703d2c4d7 57
maetugr 2:93f703d2c4d7 58 //for (int i= 0; i < 3;i++)
maetugr 2:93f703d2c4d7 59 //drift[i] += (Gyro_data[i]-drift[i])* 0.1;
maetugr 2:93f703d2c4d7 60
maetugr 2:93f703d2c4d7 61 //for (int i= 0; i < 3;i++)
maetugr 2:93f703d2c4d7 62 //Gyro_angle[i] += (Gyro_data[i]/*-drift[i]*/);
maetugr 2:93f703d2c4d7 63
maetugr 2:93f703d2c4d7 64 //dt berechnen
maetugr 2:93f703d2c4d7 65 dt = GlobalTimer.read_us() - time_loop;
maetugr 2:93f703d2c4d7 66 time_loop = GlobalTimer.read_us();
maetugr 2:93f703d2c4d7 67
maetugr 2:93f703d2c4d7 68 angle += (Acc_angle - angle)/30 + Gyro_data[0] * 0.01;
maetugr 2:93f703d2c4d7 69 //Gyro_angle[0] += (Gyro_data[0]) * 0.01;
maetugr 0:0c4fafa398b4 70
maetugr 0:0c4fafa398b4 71 LCD.locate(0,0);
maetugr 2:93f703d2c4d7 72 LCD.printf(" |%2.1f ",Acc_angle); //roll(x) pitch(y) yaw(z)
maetugr 0:0c4fafa398b4 73 LCD.locate(1,0);
maetugr 2:93f703d2c4d7 74 //LCD.printf("%d %d %d %2.1f ", Acc_data[0],Acc_data[1],Acc_data[2], Acc_angle);
maetugr 2:93f703d2c4d7 75 LCD.printf("%d %d %2.4f %2.1f ", Gyro_angle[0],Gyro_angle[1],dt/10000000.0, angle);
maetugr 2:93f703d2c4d7 76
maetugr 2:93f703d2c4d7 77 Motor = 1000 + abs(Acc_data[1]); // Motorwert anpassen
maetugr 0:0c4fafa398b4 78
maetugr 2:93f703d2c4d7 79 //LED hin und her
maetugr 2:93f703d2c4d7 80 int ledset = 0;
maetugr 2:93f703d2c4d7 81 if (Acc_angle < 0)
maetugr 2:93f703d2c4d7 82 ledset += 1;
maetugr 2:93f703d2c4d7 83 else
maetugr 2:93f703d2c4d7 84 ledset += 8;
maetugr 2:93f703d2c4d7 85 if (angle < 0)
maetugr 2:93f703d2c4d7 86 ledset += 2;
maetugr 2:93f703d2c4d7 87 else
maetugr 2:93f703d2c4d7 88 ledset += 4;
maetugr 2:93f703d2c4d7 89
maetugr 2:93f703d2c4d7 90 LEDs = ledset;
maetugr 0:0c4fafa398b4 91
maetugr 2:93f703d2c4d7 92 //LEDs.rollnext();
maetugr 0:0c4fafa398b4 93 wait(0.1);
maetugr 0:0c4fafa398b4 94 }
maetugr 0:0c4fafa398b4 95 }