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hover-programs
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2a3d2b33b4 ... 8455cb88c0

6 changed files with 37 additions and 123 deletions
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16
hover-controller/PinConfig.h
View File

@ -27,22 +27,8 @@
#define MAIN_PROP_GPIO RPI_V2_GPIO_P1_13
#define MAIN_PROP_START_PPM 1065
#define MAIN_PROP_IDLE_PPM 1065
#define MAIN_PROP_START_PPM 1060
#define MAIN_PROP_STOP_PPM 2400
#define MAIN_PROP_MAX_PPM 2020
#define LEFT_PROP_START_PPM 1065
#define LEFT_PROP_IDLE_PPM 1065
#define LEFT_PROP_STOP_PPM 2400
#define LEFT_PROP_MAX_PPM 2020
#define RIGHT_PROP_START_PPM 1065
#define RIGHT_PROP_IDLE_PPM 1065
#define RIGHT_PROP_STOP_PPM 2400
#define RIGHT_PROP_MAX_PPM 2020
#define ESC_WAIT_PPM 1005
#endif // __PIN_CONFIG_H__

18
hover-controller/hover-controller.cpp
View File

@ -1,16 +1,15 @@
/*
TMRh20 2014
Angel garcía 2019
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
version 2 as published by the Free Software Foundation.
*/
/** Hover Controller
* This program manage all the RF communications and electronic elements
* communication.
* The code here manage rf intereactions and pass messages to the dispatcher.
/** General Data Transfer Rate Test
* This example demonstrates basic data transfer functionality with the
updated library. This example will display the transfer rates acheived using
the slower form of high-speed transfer using blocking-writes.
*/
#include "../rfudp/TxTunnel.h"
@ -79,12 +78,11 @@ int main(int argc, char** argv) {
if(gpioInitialise()<0) {
perror("[pigpio] gpioInitialise error");
exit(EXIT_FAILURE);
}else{
servo_mv_r(MAIN_PROP_GPIO, 0);
servo_mv_r(LEFT_PROP_GPIO, 0);
servo_mv_r(RIGHT_PROP_GPIO, 0);
}
// initialize all motors
all_motors_zero(); // set PPM to 0
sleep(1); // wait 1 sec
all_motors_stop(); // set PPM to stop
// This opens two pipes for these two nodes to communicate
// back and forth.

100
hover-controller/motors.cpp
View File

@ -8,49 +8,16 @@ void motor_esc_initialize(unsigned int pin) {
//servo_mv_r(pin, 0);
//sleep(0.5);
servo_mv_r(pin, MAIN_PROP_STOP_PPM);
usleep(10000);
//sleep(1);
//servo_mv_r(pin, MAIN_PROP_START_PPM);
}
void all_motors_stop() {
servo_mv_r(MAIN_PROP_GPIO, MAIN_PROP_STOP_PPM);
servo_mv_r(LEFT_PROP_GPIO, LEFT_PROP_STOP_PPM);
servo_mv_r(RIGHT_PROP_GPIO, RIGHT_PROP_STOP_PPM);
}
void all_motors_zero() {
servo_mv_r(MAIN_PROP_GPIO, 0);
servo_mv_r(LEFT_PROP_GPIO, 0);
servo_mv_r(RIGHT_PROP_GPIO, 0);
}
void all_motors_start() {
servo_mv_r(MAIN_PROP_GPIO, MAIN_PROP_START_PPM);
servo_mv_r(LEFT_PROP_GPIO, LEFT_PROP_START_PPM);
servo_mv_r(RIGHT_PROP_GPIO, RIGHT_PROP_START_PPM);
}
int map_esc_per(unsigned int pin, int *lv) {
switch(pin) {
case MAIN_PROP_GPIO:
*lv = map(*lv, 0, 100, MAIN_PROP_IDLE_PPM, MAIN_PROP_MAX_PPM);
break;
case LEFT_PROP_GPIO:
*lv = map(*lv, 0, 100, LEFT_PROP_IDLE_PPM, LEFT_PROP_MAX_PPM);
break;
case RIGHT_PROP_GPIO:
*lv = map(*lv, 0, 100, RIGHT_PROP_IDLE_PPM, RIGHT_PROP_MAX_PPM);
break;
default:
*lv = map(*lv, 0, 100, ESC_MIN, ESC_MAX);
}
return *lv;
}
void motor_process(char*msg){
char servo_index = msg[4];
char servo_mode = msg[5];
int lv;
char action[5];
unsigned int pin;
static bool started=false;
@ -58,65 +25,30 @@ void motor_process(char*msg){
eprintf("Act: %s\n", action);
if (strcmp(action, "START") == 0) {
if (!started) {
eprintf("Estarting ESCs\n");
all_motors_stop(); // set all motors to stop position
usleep(10000); // wait just a bit (10000 µs or 0,01 secs)
all_motors_start(); // set all to start speed
//servo_mv_r(MAIN_PROP_GPIO, MAIN_PROP_START_PPM);
if (!started){
eprintf("Estarting ESC\n");
motor_esc_initialize(MAIN_PROP_GPIO);
servo_mv_r(MAIN_PROP_GPIO, MAIN_PROP_START_PPM);
started=true;
strcpy(msg, "ESC_STARTED");
} else {
}else
eprintf("ESC already started\n");
strcpy(msg, "ESC_IS_STARTED");
}
return;
} else
if (strcmp(action, "STOP") == 0) {
//servo_mv_r(MAIN_PROP_GPIO, MAIN_PROP_STOP_PPM);
all_motors_stop(); // Stops all ESCs
servo_mv_r(MAIN_PROP_GPIO, MAIN_PROP_STOP_PPM);
started=false;
strcpy(msg, "ESC_STOPPED");
return;
} else {
sscanf(&msg[6], " %i ", &lv );
}
if (servo_index == 'M')
pin = MAIN_PROP_GPIO;
else
if (servo_index == 'L')
pin = LEFT_PROP_GPIO;
else
if (servo_index == 'R')
pin = RIGHT_PROP_GPIO;
else {
eprintf("[motors] index not valid (%c)\n", servo_index);
strcpy(msg, "ESC_INDX_NOK");
return;
}
if (servo_index == 'M') {
servo_mv_r(MAIN_PROP_GPIO, lv);
} else
if (servo_index == 'L') {
servo_mv_r(LEFT_PROP_GPIO, lv);
switch (servo_mode) {
case ' ':
if (lv < 500)
servo_mode = '%';
else
servo_mode = 'R';
break;
case '%':
map_esc_per(pin, &lv);
break;
case 'R':
break;
default:
eprintf("[motors] mode not valid (%c)\n", *mode);
strcpy(msg, "ESC_MODE_NOK");
return;
}
} else
if (servo_index == 'R') {
servo_mv_r(RIGHT_PROP_GPIO, lv);
servo_mv_r(pin, lv);
sprintf(msg, "ESC %c%c %i", servo_index, servo_mode, lv);
}
}

1
hover-controller/motors.h
View File

@ -3,6 +3,5 @@
#include "servos.h"
void motor_process(char*msg);
void all_motors_stop();
#endif // __MOTORS_H__

1
rfudp/TxTunnel.h
View File

@ -41,7 +41,6 @@
#define SERVER_PORT 8080
#define MAX_MSG_SZ 32
#define RF_CHANNEL 0
#define MILLIS_WAIT 200
#define ACK_MODE FALSE

12
rfudp/TxTunnelSender.cpp
View File

@ -6,10 +6,10 @@ TMRh20 2014
version 2 as published by the Free Software Foundation.
*/
/** TxTunnelSender
* This programm acts as a middle layer between clients and a nRF24 antenna.
* It sends to the other node what it receive on the udp socket and answer the sender
* with whatever the node sends back.
/** General Data Transfer Rate Test
* This example demonstrates basic data transfer functionality with the
updated library. This example will display the transfer rates acheived using
the slower form of high-speed transfer using blocking-writes.
*/
#include "TxTunnel.h"
@ -183,10 +183,10 @@ int main(int argc, char** argv){
loop_start = millis();
radio.startListening();
while ( !radio.available() && (millis() - loop_start) < MILLIS_WAIT) {
while ( !radio.available() && (millis() - loop_start) < 200) {
// wait till receive or timeout
}
if (millis() - loop_start >= MILLIS_WAIT) {
if (millis() - loop_start >= 100) {
eprintf("Not Response.\n\r");
strcpy(buffer,"TxERR\0");
n=strlen(buffer);