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| #include "../module/Delay.h"
#include "../module/Random.h"
#include "../module/Math.h"
#include "../module/Filter.h"
#include "../module/SoundWrite.h"
#include "../module/PwmWrite.h"
#include "../module/PwmRead.h"
#include "../module/Mpu6050.h"
int main()
{
unsigned char n = 0;
Delay delaySoundStartCondition = Delay (1000, false);
Mpu6050 gyroscope = Mpu6050 (0x68);
PwmRead channelThrottle = PwmRead (1, false);
float slowChannelThrottle = 0;
PwmRead channelPitch = PwmRead (2, false);
PwmRead channelRoll = PwmRead (3, false);
PwmRead channelYaw = PwmRead (4, false);
PwmRead channelHold = PwmRead (5, false);
float centerChannelHold = 0;
PwmWrite motor1 = PwmWrite (8, 0, 0, 0);
PwmWrite motor2 = PwmWrite (9, 0, 0, 0);
PwmWrite motor3 = PwmWrite (10, 0, 0, 0);
PwmWrite motor4 = PwmWrite (11, 0, 0, 0);
float mixThrottle = 0;
float mixThrustPitchGainSpeed = 0;
Filter mixLockPitchGainSpeed = Filter (20);
float mixThrustRollGainSpeed = 0;
Filter mixLockRollGainSpeed = Filter (20);
float mixInertiaYawGainSpeed = 0;
Filter mixLockYawGainSpeed = Filter (100);
float mixMinClearancePitch = 0;
float mixMaxClearancePitch = 0;
float mixMinClearanceRoll = 0;
float mixMaxClearanceRoll = 0;
float mixMinClearanceYaw = 0;
float mixMaxClearanceYaw = 0;
float mixPitchOffsetSpeed = 0;
float mixRollOffsetSpeed = 0;
float mixYawOffsetSpeed = 0;
float thrustGainSpeedPitch = 0;
float thrustGainSpeedRoll = 0;
float inertiaGainSpeedYaw = 0;
float gainMinRxSpeed = 0;
float gainMaxRxSpeed = 0;
float gainLockRxSpeed = 0;
float gainMinRySpeed = 0;
float gainMaxRySpeed = 0;
float gainLockRySpeed = 0;
float gainMinRzSpeed = 0;
float gainMaxRzSpeed = 0;
float gainLockRzSpeed = 0;
float mixMinRxMotor = 0;
float mixMaxRxMotor = 0;
float mixMinRyMotor = 0;
float mixMaxRyMotor = 0;
float mixMinRzMotor = 0;
float mixMaxRzMotor = 0;
float mixMotor1 = 0;
float mixMotor2 = 0;
float mixMotor3 = 0;
float mixMotor4 = 0;
const unsigned int SETUP_MIN_CHANNEL_THROTTLE = 1000;
const unsigned int SETUP_MAX_CHANNEL_THROTTLE = 2000;
const unsigned int SETUP_MIN_CHANNEL_PITCH = 1000;
const unsigned int SETUP_MAX_CHANNEL_PITCH = 2000;
const unsigned int SETUP_MIN_CHANNEL_ROLL = 1000;
const unsigned int SETUP_MAX_CHANNEL_ROLL = 2000;
const unsigned int SETUP_MIN_CHANNEL_YAW = 1000;
const unsigned int SETUP_MAX_CHANNEL_YAW = 2000;
const unsigned int SETUP_MIN_CHANNEL_HOLD = 1000;
const unsigned int SETUP_MAX_CHANNEL_HOLD = 2000;
const unsigned int SETUP_FREQUENCY_ESC = 125;
const unsigned int SETUP_HOLD_ESC = 950;
const unsigned int SETUP_MIN_ESC = 1050;
const unsigned int SETUP_MAX_ESC = 1950;
const unsigned int SETUP_TRAVEL_PITCH = 250;
const unsigned int SETUP_TRAVEL_ROLL = 250;
const unsigned int SETUP_TRAVEL_YAW = 400;
const signed int SETUP_SPEED_PITCH = 320;
const signed int SETUP_SPEED_ROLL = 320;
const signed int SETUP_SPEED_YAW = 320;
const unsigned char SETUP_GAIN_SPEED_PITCH = 95;
const unsigned char SETUP_GAIN_SPEED_ROLL = 93;
const unsigned char SETUP_GAIN_SPEED_YAW = 96;
const unsigned char SETUP_THRUST_PROPELLER = 80;
const unsigned char SETUP_INERTIA_PROPELLER = 100;
const unsigned char SETUP_LOCK = 60;
SoundWrite::pin (13);
PwmRead::start (100);
while (channelThrottle.us == 0 || channelPitch.us == 0 || channelRoll.us == 0 || channelYaw.us == 0 || channelHold.us == 0)
{
channelThrottle.read();
channelPitch.read();
channelRoll.read();
channelYaw.read();
channelHold.read();
delaySoundStartCondition.state();
if (delaySoundStartCondition.update == true)
{
SoundWrite::key (200, 100);
SoundWrite::key (0, 100);
SoundWrite::key (200, 100);
SoundWrite::playKey();
}
}
slowChannelThrottle = float (SETUP_MIN_CHANNEL_THROTTLE) + ((float (SETUP_MAX_CHANNEL_THROTTLE) - float (SETUP_MIN_CHANNEL_THROTTLE)) / 10.0);
centerChannelHold = Math::center (SETUP_MIN_CHANNEL_HOLD, SETUP_MAX_CHANNEL_HOLD);
delaySoundStartCondition.reset();
while (channelThrottle.us > slowChannelThrottle || channelHold.us < centerChannelHold)
{
channelThrottle.read();
channelHold.read();
delaySoundStartCondition.state();
if (delaySoundStartCondition.update == true)
{
SoundWrite::key (200, 100);
SoundWrite::key (0, 100);
SoundWrite::key (200, 100);
SoundWrite::key (0, 100);
SoundWrite::key (200, 100);
SoundWrite::playKey();
}
}
thrustGainSpeedPitch = Math::curve (0, SETUP_THRUST_PROPELLER, 100, 0, SETUP_GAIN_SPEED_PITCH, 0);
gainMinRxSpeed = Math::curve (0, thrustGainSpeedPitch, 100, 2000, 0, 0);
gainMaxRxSpeed = Math::curve (0, SETUP_GAIN_SPEED_PITCH, 100, 2000, 0, 0);
gainLockRxSpeed = Math::curve (0, SETUP_LOCK, 100, 1, 0, 0);
thrustGainSpeedRoll = Math::curve (0, SETUP_THRUST_PROPELLER, 100, 0, SETUP_GAIN_SPEED_ROLL, 0);
gainMinRySpeed = Math::curve (0, thrustGainSpeedRoll, 100, 2000, 0, 0);
gainMaxRySpeed = Math::curve (0, SETUP_GAIN_SPEED_ROLL, 100, 2000, 0, 0);
gainLockRySpeed = Math::curve (0, SETUP_LOCK, 100, 1, 0, 0);
inertiaGainSpeedYaw = Math::curve (0, SETUP_INERTIA_PROPELLER, 100, 0, SETUP_GAIN_SPEED_YAW, 0);
gainMinRzSpeed = Math::curve (0, inertiaGainSpeedYaw, 100, 2000, 0, 0);
gainMaxRzSpeed = Math::curve (0, SETUP_GAIN_SPEED_YAW, 100, 2000, 0, 0);
gainLockRzSpeed = Math::curve (0, SETUP_LOCK, 100, 1, 0, 0);
motor1.hold (SETUP_HOLD_ESC);
motor1.min (SETUP_MIN_ESC);
motor1.max (SETUP_MAX_ESC);
motor2.hold (SETUP_HOLD_ESC);
motor2.min (SETUP_MIN_ESC);
motor2.max (SETUP_MAX_ESC);
motor3.hold (SETUP_HOLD_ESC);
motor3.min (SETUP_MIN_ESC);
motor3.max (SETUP_MAX_ESC);
motor4.hold (SETUP_HOLD_ESC);
motor4.min (SETUP_MIN_ESC);
motor4.max (SETUP_MAX_ESC);
PwmWrite::start (SETUP_FREQUENCY_ESC);
motor1.moveHold();
motor2.moveHold();
motor3.moveHold();
motor4.moveHold();
Random::seed (15);
for (n = 0; n < 16; n++)
{
if (n != 0)
{
SoundWrite::key (0, Random::integer (25, 75));
}
SoundWrite::key (Random::integer (70, 3000), Random::integer (25, 75));
}
SoundWrite::playKey();
while (true)
{
channelThrottle.read();
channelPitch.read();
channelRoll.read();
channelYaw.read();
channelHold.read();
if (channelHold.us > centerChannelHold)
{
motor1.moveHold();
motor2.moveHold();
motor3.moveHold();
motor4.moveHold();
}
else
{
gyroscope.readRotation();
mixThrottle = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, SETUP_MIN_ESC, SETUP_MAX_ESC, 0);
mixMotor1 = mixThrottle;
mixMotor2 = mixThrottle;
mixMotor3 = mixThrottle;
mixMotor4 = mixThrottle;
mixMinClearancePitch = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, 0, SETUP_TRAVEL_PITCH, 0);
mixMaxClearancePitch = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, SETUP_TRAVEL_PITCH, 0, 0);
mixPitchOffsetSpeed = Math::curve (SETUP_MIN_CHANNEL_PITCH, channelPitch.us, SETUP_MAX_CHANNEL_PITCH, -SETUP_SPEED_PITCH, SETUP_SPEED_PITCH, 0);
mixThrustPitchGainSpeed = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, gainMaxRxSpeed, gainMinRxSpeed, 0);
mixLockPitchGainSpeed.set (Math::wurve (SETUP_MIN_CHANNEL_PITCH, channelPitch.us, SETUP_MAX_CHANNEL_PITCH, gainLockRxSpeed, 1, gainLockRxSpeed, 0, 0));
mixThrustPitchGainSpeed *= mixLockPitchGainSpeed.value;
mixMinRxMotor = Math::wurve (-mixThrustPitchGainSpeed, gyroscope.rx + mixPitchOffsetSpeed, mixThrustPitchGainSpeed, -mixMaxClearancePitch, 0, mixMinClearancePitch, 0, 0);
mixMaxRxMotor = Math::wurve (-mixThrustPitchGainSpeed, gyroscope.rx + mixPitchOffsetSpeed, mixThrustPitchGainSpeed, -mixMinClearancePitch, 0, mixMaxClearancePitch, 0, 0);
mixMotor1 -= mixMinRxMotor;
mixMotor2 -= mixMinRxMotor;
mixMotor3 += mixMaxRxMotor;
mixMotor4 += mixMaxRxMotor;
mixMinClearanceRoll = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, 0, SETUP_TRAVEL_ROLL, 0);
mixMaxClearanceRoll = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, SETUP_TRAVEL_ROLL, 0, 0);
mixRollOffsetSpeed = Math::curve (SETUP_MIN_CHANNEL_ROLL, channelRoll.us, SETUP_MAX_CHANNEL_ROLL, -SETUP_SPEED_ROLL, SETUP_SPEED_ROLL, 0);
mixThrustRollGainSpeed = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, gainMaxRySpeed, gainMinRySpeed, 0);
mixLockRollGainSpeed.set (Math::wurve (SETUP_MIN_CHANNEL_ROLL, channelRoll.us, SETUP_MAX_CHANNEL_ROLL, gainLockRySpeed, 1, gainLockRySpeed, 0, 0));
mixThrustRollGainSpeed *= mixLockRollGainSpeed.value;
mixMinRyMotor = Math::wurve (-mixThrustRollGainSpeed, gyroscope.ry - mixRollOffsetSpeed, mixThrustRollGainSpeed, -mixMaxClearanceRoll, 0, mixMinClearanceRoll, 0, 0);
mixMaxRyMotor = Math::wurve (-mixThrustRollGainSpeed, gyroscope.ry - mixRollOffsetSpeed, mixThrustRollGainSpeed, -mixMinClearanceRoll, 0, mixMaxClearanceRoll, 0, 0);
mixMotor1 -= mixMinRyMotor;
mixMotor2 += mixMaxRyMotor;
mixMotor3 -= mixMinRyMotor;
mixMotor4 += mixMaxRyMotor;
mixMinClearanceYaw = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, 0, SETUP_TRAVEL_YAW, 0);
mixMaxClearanceYaw = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, SETUP_TRAVEL_YAW, 0, 0);
mixYawOffsetSpeed = Math::curve (SETUP_MIN_CHANNEL_YAW, channelYaw.us, SETUP_MAX_CHANNEL_YAW, -SETUP_SPEED_YAW, SETUP_SPEED_YAW, 0);
mixInertiaYawGainSpeed = Math::curve (SETUP_MIN_CHANNEL_THROTTLE, channelThrottle.us, SETUP_MAX_CHANNEL_THROTTLE, gainMaxRzSpeed, gainMinRzSpeed, 0);
mixLockYawGainSpeed.set (Math::wurve (SETUP_MIN_CHANNEL_YAW, channelYaw.us, SETUP_MAX_CHANNEL_YAW, gainLockRzSpeed, 1, gainLockRzSpeed, 0, 0));
mixInertiaYawGainSpeed *= mixLockYawGainSpeed.value;
mixMinRzMotor = Math::wurve (-mixInertiaYawGainSpeed, gyroscope.rz + mixYawOffsetSpeed, mixInertiaYawGainSpeed, -mixMaxClearanceYaw, 0, mixMinClearanceYaw, 0, 0);
mixMaxRzMotor = Math::wurve (-mixInertiaYawGainSpeed, gyroscope.rz + mixYawOffsetSpeed, mixInertiaYawGainSpeed, -mixMinClearanceYaw, 0, mixMaxClearanceYaw, 0, 0);
mixMotor1 -= mixMinRzMotor;
mixMotor2 += mixMaxRzMotor;
mixMotor3 += mixMaxRzMotor;
mixMotor4 -= mixMinRzMotor;
motor1.us (Math::round (mixMotor1));
motor2.us (Math::round (mixMotor2));
motor3.us (Math::round (mixMotor3));
motor4.us (Math::round (mixMotor4));
}
}
return 0;
} |
