Commit fe378cdaa350681b34af8da9199abfb93b54d8ff - droidcopter

Update firmware for better stability at low speeds. Will Brown 11 years ago

2 changed file(s) with 38 addition(s) and 39 deletion(s). Raw diff Collapse all Expand all

+13

-9

firmware/firmware.pde less more

7	7	#define STATUS_LED 13
8	8	#define STATUS_LED_CYCLES 30000
9	9	#define WORD_BUFFER_LENGTH 4
10		#define WORD_LENGTH 3
	10	#define WORD_LENGTH 2
11	11
12		#include <SoftwareServo.h>
	12	#include <Servo.h>
13	13
14	14	struct motor {
15	15	unsigned char pin;
16	16	unsigned int current_speed;
17	17	unsigned int next_speed;
18		SoftwareServo ctrl;
	18	Servo ctrl;
19	19	};
20	20
21	21	struct motor motors[MOTOR_COUNT] = {
22		{6, 0, 0, SoftwareServo()}, {9, 0, 0, SoftwareServo()},
23		{10, 0, 0, SoftwareServo()}, {11, 0, 0, SoftwareServo()}
	22	{6, 0, 0, Servo()}, {9, 0, 0, Servo()},
	23	{10, 0, 0, Servo()}, {11, 0, 0, Servo()}
24	24	};
25	25
26	26	char buffer[WORD_BUFFER_LENGTH];

68	68	* Initialize messenger service and speed vector.
69	69	*/
70	70	void setup(void) {
	71	/* Initialize serial monitor. */
	72	Serial.begin(115200);
	73
71	74	/* Set the serial status LED to output. */
72	75	pinMode(STATUS_LED, OUTPUT);
73	76
74	77	/* Initialize the motor controllers. */
75	78	init_motors();
76	79
77		/* Initialize serial monitor. */
78		Serial.begin(115200);
	80	Serial.println("BEGIN");
79	81	}
80	82
81	83	/**

98	100	}
99	101
100	102	buffer[WORD_LENGTH] = '\0';
101		motors[i].next_speed = atoi(buffer);
	103	motors[i].next_speed = map(atoi(buffer), -1, 99, 67, 160);
102	104	} else {
103	105	Serial.println(BAD_REQUEST);
104	106	}

119	121	digitalWrite(STATUS_LED, LOW);
120	122	}
121	123
	124	#ifdef ENABLE_HEARTBEAT
122	125	if (led_cycles % 10000 == 0) {
123		// Serial.println(HEARTBEAT_PULSE);
	126	Serial.println(HEARTBEAT_PULSE);
124	127	}
	128	#endif
125	129
126	130	}
127	131

+25

-30

firmware/motortest/motortest.pde less more

0		#include <SoftwareServo.h>
	0	#include <Servo.h>
1	1
2	2	// Motors
3	3	#define PIN_FRONT 11
4		#define PIN_REAR 5
5		#define PIN_LEFT 6
6		#define PIN_RIGHT 7
	4	#define PIN_REAR 9
	5	#define PIN_LEFT 10
	6	#define PIN_RIGHT 6
7	7	#define MINCOMMAND 0
8	8
9		struct Motor {
	9	struct Motors {
10	10	int command[4];
11	11	int axisCommand[3];
12	12	boolean armed;

18	18	1000
19	19	};
20	20
21		SoftwareServo motorFront;
22		SoftwareServo motorRear;
23		SoftwareServo motorLeft;
24		SoftwareServo motorRight;
	21	Servo motorFront;
	22	Servo motorRear;
	23	Servo motorLeft;
	24	Servo motorRight;
25	25
26	26	void setupMotors() {
27	27	motorFront.attach(PIN_FRONT);

32	32	// Arm ESCs
33	33	setAllMotors(MINCOMMAND);
34	34	updateMotors();
35		unsigned long tempTime = millis();
36		while(millis()<tempTime+1000*4) {
37		SoftwareServo::refresh();
	35	}
	36
	37	void setup() {
	38	setupMotors();
	39	}
	40
	41	void loop() {;}
	42
	43	void setAllMotors(int cmd) {
	44	int i;
	45	for (i=0; i<4; i++) {
	46	motor.command[i] = cmd;
38	47	}
39	48	}
40	49
41		void wait(int ms) {
42		int temp = millis();
43		while(millis()-temp<ms) {
44		SoftwareServo::refresh();
	50	void updateMotors() {
	51	int i;
	52	for (i=0; i<4; i++) {
	53	motorFront.write(motor.command[i]);
45	54	}
46	55	}
47	56
48		void setAllMotors(int cmd) {
49		motor.command[MOTOR_FRONT] = cmd;
50		motor.command[MOTOR_REAR] = cmd;
51		motor.command[MOTOR_LEFT] = cmd;
52		motor.command[MOTOR_RIGHT] = cmd;
53		}
54
55		void updateMotors() {
56		motorFront.write(motor.command[MOTOR_FRONT]);
57		motorRear.write(motor.command[MOTOR_REAR]);
58		motorLeft.write(motor.command[MOTOR_LEFT]);
59		motorRight.write(motor.command[MOTOR_RIGHT]);
60		}
61