2016. 2. 8. 02:58
쿼드콥터 하드웨어 완성! 작품/쿼드콥터2016. 2. 8. 02:58
하드웨어 조립
아두이노 우노에서 아두이노 메가로 갈아타면서 결국 하드웨어를 처음부터 다시 만들게되었다
우선은 센서와 조종수신부와 MCU등을 연결할 보드부터 만들어야 했다.
보드의 배면도는 다음과 같다.
다음 배면도는 리포배터리를 연결했을 때라도 드론의 동작은 ON/OFF 할 수 있도록 스위치를 연결한 것이다.
그리고 카메라와 카메라 송신기도 5V가 아니라 12V였기때문에 수정을 하였다.
처음에는 다시 만들어야한다는 사실에 멘붕이 왔지만.. 결극 더 나은 하드웨어가 나오게되었다~
그 전 버전의 쿼드콥터는 제어하기 더 쉬울거라는 이유때문에 +형태로 만들었었는데 ...
이번에 하드웨어를 다시 만들게 되면서 카메라를 다는 문제까지 고려하게 되었고 결국 더 간지~>< 나는 x자 형태로 만들었다.
일단 PID제어 테스트를 하기전에 모든 하드웨어를 다 얹어서 해야했기 때문에 무선조종기 수신부랑 카메라랑 카메라 무선 송신기까지 모두 달아놓을 상태이다.
위에서 본 모습
옆에서 본 모습
앞에서 본 모습
이렇게 하드웨어를 다 만들고 배터리를 연결해서 테스트를 하려고 했는데..
얼마 지나지 않아 아두이노 메가2560에 레귤레이터가 달려 있는 것 같은 부분으 뜨거워졌다.
처음에는 아두이노 메가2560의 Vin에 12넣는 것이 잘 못 되었나 싶어서 테스터기로 Vin단자와 레귤레이터가 연결되어 있는지
확인해 보았는데 연결되어 있었고, 12V가 들어가는 게 확실한 다른 전원 입력부에 파워서플라이고 12V를 줬는데 마찬가지로 같은 부분이 뜨거워졌다.
그래서 방열판을 잘라서 그 부분에다가 붙였더니 괜찮아 졌다.
조립 후 테스트
하드웨어가 제대로 동작하는지 테스트를 해봤는데 잘 되었다.
원래는 컴퓨터 Serial모니터 상에서 드론의 callibration을 했는데 이제는 조종기에서 바로 할 수 있도록 하였다.
조종기의 throttle을 위로 올린 상태에서 드론의 배터리를 연결하고
기다리다가 "띠띠"소리가 나면 throttle을 아래로 내리고 "띠리리"소리가 나면 callibration이 다 된것이다.
위 동영상에 대한 코드는 아래에~
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 | #include "Servo.h" /////////////////BLDC Motor///////////////// #define MAX_THROTTLE 180 #define MIN_THROTTLE 0 #define MAX_PWM 150 #define MIN_PWM 0 #define MOTOR1 6 //motor pin number #define MOTOR2 7 //motor pin number #define MOTOR3 44 //motor pin number #define MOTOR4 45 //motor pin number int motor1Power, motor3Power; // Motors on the X axis //=>; changing their speeds will affect the pitch int motor2Power, motor4Power; // Motors on the Y axis //=>; changing their speeds will affect the roll Servo motor1; Servo motor2; Servo motor3; Servo motor4; //////////////////////////////////////////// /////////////////IMU Sensor///////////////// //IMU Sensor variable typedef union { signed short value; unsigned char byte[2]; } S2BYTE; S2BYTE data_word; unsigned char SBuf[100]; int SCnt=0; double DegRoll, DegPitch, DegYaw; //////////////////////////////////////////// /////////////////PID Conrtroll///////////////// #define MINhover 0 #define INIThover 20 #define INITROLLKp 0.38 #define INITROLLKi 0.000287 #define INITROLLKd 33 #define INITPITCHKp 0.29 #define INITPITCHKi 0.000287 #define INITPITCHKd 33 #define INITYAWKp 0.29 //0.38 #define INITYAWKi 0.000287 #define INITYAWKd 33 #define MAXSPEED 3 #define MINSPEED 100 #define INITROLLSETPOINT -1.532 #define INITPITCHSETPOINT -0.516 double roll_setpoint = INITROLLSETPOINT, pitch_setpoint = INITPITCHSETPOINT, yaw_setpoint = 0; int hover = INIThover; double roll_Kp = INITROLLKp, roll_Ki = INITROLLKi, roll_Kd = INITROLLKd; double pitch_Kp = INITPITCHKp, pitch_Ki = INITPITCHKi, pitch_Kd = INITPITCHKd; double yaw_Kp = INITYAWKp, yaw_Ki = INITYAWKi, yaw_Kd = INITYAWKd; double roll_p, roll_i, roll_d, roll_val; double pitch_p, pitch_i, pitch_d, pitch_val; double yaw_p, yaw_i, yaw_d, yaw_val; int rollControll, pitchControll, yawControll; int initial = 0; //////////////////////////////////////////// /////////////////Serial Monitor///////////////// int Serial_print_sig=1; int roll_print = 1, pitch_print =0, yaw_print=0, hover_print=0; //////////////////////////////////////////// ////////////////Wireless Controller/////////////////// #define CH1 2 // yaw #define CH2 3 //pitch #define CH3 0 //hover #define CH4 1 //roll #define CH1_MIN 1292//200 1264 #define CH1_MID 1464 #define CH1_MAX 1632//168 #define CH2_MIN 1224//304 1176 #define CH2_MID 1480 #define CH2_MAX 1736//256 #define CH3_MIN 1028 #define CH3_MID 1448 #define CH3_MAX 1808 #define CH4_MIN 1296//208 1264 #define CH4_MID 1472 #define CH4_MAX 1648//176 #define CUTFORZERO 3 #define DEGRANGE 45 #define TROTTLERANGE 150 #define WFLYOFFSET 18 #define CHENELNUM 4 #define CHECKINGNUM 4 volatile int CH1_prev_time, CH1_pwm_value; volatile int CH2_prev_time, CH2_pwm_value; volatile int CH3_prev_time, CH3_pwm_value; volatile int CH4_prev_time, CH4_pwm_value; int CH1_val=0, CH2_val=0, CH3_val=0, CH4_val=0; int controll_val[4]; int* ptr; ///////////////////////////////////////////////////////////////////// //---------------------------------------------------------------------// // // funtions // //--------------------------------------------------------------------// //----------------------------------------------------------------// // BLDC Motor //---------------------------------------------------------------// //esc조절 하기 void callibration(void) { Serial.println("Calibrate ESC? 'y' or 'n'."); while (!Serial.available()); char cali = Serial.read(); if(cali == 'y'){ Serial.println("send max throttle"); motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor4.attach(MOTOR4); motor1.write(MAX_THROTTLE); motor2.write(MAX_THROTTLE); motor3.write(MAX_THROTTLE); motor4.write(MAX_THROTTLE); delay(5000); Serial.println("send min throttle"); motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor4.attach(MOTOR4); motor1.write(MIN_THROTTLE); motor2.write(MIN_THROTTLE); motor3.write(MIN_THROTTLE); motor4.write(MIN_THROTTLE); delay(2000); Serial.println("callibration complete"); }else if(cali == 'n'){ motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor4.attach(MOTOR4); motor1.write(MIN_THROTTLE); motor2.write(MIN_THROTTLE); motor3.write(MIN_THROTTLE); motor4.write(MIN_THROTTLE); } Serial.println("If you want Program keep going. Press any key."); while (!Serial.available()); } int motorBegin(void) { int count=0, throttle; motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor4.attach(MOTOR4); delay(2000); while(count <5){ vlaueable_wfly(&controll_val[0]); throttle = controll_val[2]; count++; } do{ vlaueable_wfly(&controll_val[0]); throttle = controll_val[2]; if(throttle < 10){//no callibration Serial.println("no callibration."); motor1.write(MIN_THROTTLE); motor2.write(MIN_THROTTLE); motor3.write(MIN_THROTTLE); motor4.write(MIN_THROTTLE); delay(2000); Serial.println("program start!"); delay(2000); return 0; }else if(throttle > 140){//yes callibration Serial.print("you send MAX_THROTTLE. ");Serial.print("callibration begin. "); Serial.println("wait 4 seconds"); motor1.write(MAX_THROTTLE); motor2.write(MAX_THROTTLE); motor3.write(MAX_THROTTLE); motor4.write(MAX_THROTTLE); delay(4000); Serial.println("send min throttle for caliibraion."); while(throttle > 10){//wait until MIN_THROTTLE vlaueable_wfly(&controll_val[0]); throttle = controll_val[2]; } Serial.print("you send MIN_THROTTLE. "); motor1.write(MIN_THROTTLE); motor2.write(MIN_THROTTLE); motor3.write(MIN_THROTTLE); motor4.write(MIN_THROTTLE); Serial.print("calibration complete. "); Serial.println("program start!"); delay(2000); return 1; } }while(1); } //제어값을 받어서 모터 구동 void run_motors(int throttle, int rollOffset, int pitchOffset, int yawOffset) { //Roll control motor1Power = throttle + rollOffset/2; motor2Power = throttle + rollOffset/2; motor4Power = throttle - rollOffset/2; motor3Power = throttle - rollOffset/2; //Pitch control motor4Power = motor4Power + pitchOffset/2; motor1Power = motor1Power + pitchOffset/2; motor3Power = motor3Power - pitchOffset/2; motor2Power = motor2Power - pitchOffset/2; /* //yaw control motor1Power = motor1Power - yawOffset; motor3Power = motor3Power - yawOffset; motor2Power = motor2Power + yawOffset; motor4Power = motor4Power + yawOffset; */ limit_max_min(&motor1Power); limit_max_min(&motor2Power); limit_max_min(&motor3Power); limit_max_min(&motor4Power); motor1.write(motor1Power);motor3.write(motor3Power); motor2.write(motor2Power);motor4.write(motor4Power); } void limit_max_min(int* pwm)//modify { if(*pwm>MAX_PWM) *pwm = MAX_PWM; else if(*pwm<MIN_PWM) *pwm = MIN_PWM; } //---------------------------------------------------------// // IMU Sensor //--------------------------------------------------------// //센서값을 읽어서 roll,pitch,yaw 값을 알아낸다. int recieve_data(void) { static int step_=0, check_all_recieve=0; unsigned char data1byte; int n; data1byte = Serial1.read(); switch(step_) { case 0: if(data1byte==0x55) {step_=1, check_all_recieve=0;} break; case 1: if(data1byte==0x55) { step_=2; SCnt=0;} else step_=0; break; case 2: SBuf[SCnt++] = (unsigned char)data1byte; if(SCnt==8) // roll(2byte),pitch(2byte),yaw(2byte),checksum(2byte) { step_=0; SCnt=0; check_all_recieve = 1; } break; default: break; } return check_all_recieve; } static int trans_data_to_degree(unsigned char *sdata) // sdata : roll(2)+pitch(2)+yaw(2)+chk(2) { int n; unsigned short chk=0; ///////////// checksum ///////////////// chk=0x55+0x55; for(n=0;n<6;n++) chk+=sdata[n]; if(chk != get_data_word(&sdata[6])) { Serial.print("checksum error!"); return 0; // } //////////////////////////////////////// DegRoll = get_data_word(&sdata[0]) / 100.; DegPitch = get_data_word(&sdata[2]) / 100. * -1; DegYaw = get_data_word(&sdata[4]) / 100.; return 1; } static signed short get_data_word(unsigned char *dat) { // little endian.. data_word.byte[0]=dat[1]; data_word.byte[1]=dat[0]; return data_word.value; } //-----------------------------------------------------------// // PID Conrtroll //----------------------------------------------------------// //각도 값을 받아서 PID제어값 출력 double roll_pid(double setpoint, double degree) { double val_out; static double roll_p_err_prv, roll_p_err, roll_i_err, roll_d_err; roll_p_err = setpoint-degree; roll_i_err += roll_p_err; roll_d_err = roll_p_err - roll_p_err_prv; roll_p_err_prv = roll_p_err; val_out = (roll_Kp*roll_p_err) + (roll_Ki*roll_i_err) + (roll_Kd*roll_d_err); roll_p = roll_Kp*roll_p_err; roll_i = roll_Ki*roll_i_err; roll_d = roll_Kd*roll_d_err; roll_val = val_out; return val_out; } double pitch_pid(double setpoint, double degree) { double val_out; static double pitch_p_err_prv, pitch_p_err, pitch_i_err, pitch_d_err; pitch_p_err = setpoint-degree; pitch_i_err += pitch_p_err; pitch_d_err = pitch_p_err - pitch_p_err_prv; pitch_p_err_prv = pitch_p_err; val_out = (pitch_Kp*pitch_p_err) + (pitch_Ki*pitch_i_err) + (pitch_Kd*pitch_d_err); pitch_p = pitch_Kp*pitch_p_err; pitch_i = pitch_Ki*pitch_i_err; pitch_d = pitch_Kd*pitch_d_err; pitch_val = val_out; return val_out; } double yaw_pid(double setpoint, double degree) { double val_out; static double yaw_p_err_prv, yaw_p_err, yaw_i_err, yaw_d_err; yaw_p_err = setpoint-degree; yaw_i_err += yaw_p_err; yaw_d_err = yaw_p_err - yaw_p_err_prv; yaw_p_err_prv = yaw_p_err; val_out = (yaw_Kp*yaw_p_err) + (yaw_Ki*yaw_i_err) + (yaw_Kd*yaw_d_err); yaw_p = yaw_Kp*yaw_p_err; yaw_i = yaw_Ki*yaw_i_err; yaw_d = yaw_Kd*yaw_d_err; yaw_val = val_out; return val_out; } //---------------------------------------------------------// // Serial Monitor //----------------------------------------------------------// void from_computer(void) { char c = Serial.read(); //roll debuging if(c=='q'){ roll_Kp += 0.01; Serial.print("roll_Kp = ");Serial.println(roll_Kp); }else if(c=='w'){ roll_Kp -= 0.01; Serial.print("roll_Kp = ");Serial.println(roll_Kp); }else if(c=='e'){ roll_Kp= INITROLLKp; Serial.print("roll_Kp = ");Serial.println(roll_Kp); }else if(c=='a'){ roll_Ki += 0.000001; Serial.print("roll_Ki = ");Serial.println(roll_Ki*10000); }else if(c=='s'){ roll_Ki -= 0.000001; Serial.print("roll_Ki = ");Serial.println(roll_Ki*10000); }else if(c=='d'){ roll_Ki = INITROLLKi; Serial.print("roll_Ki = ");Serial.println(roll_Ki*10000); }else if(c=='z'){ roll_Kd += 1; Serial.print("roll_Kd = ");Serial.println(roll_Kd); }else if(c=='x'){ roll_Kd -= 1; Serial.print("roll_Kd = ");Serial.println(roll_Kd); }else if(c=='c'){ roll_Kd = INITROLLKd; Serial.print("roll_Kd = ");Serial.println(roll_Kd); } //pitch debuging else if(c=='r'){ pitch_Kp += 0.01; Serial.print("pitch_Kp = ");Serial.println(pitch_Kp); }else if(c=='t'){ pitch_Kp -= 0.01; Serial.print("pitch_Kp = ");Serial.println(pitch_Kp); }else if(c=='y'){ pitch_Kp= INITPITCHKp; Serial.print("pitch_Kp = ");Serial.println(pitch_Kp); }else if(c=='f'){ pitch_Ki += 0.000001; Serial.print("pitch_Ki = ");Serial.println(pitch_Ki*10000); }else if(c=='g'){ pitch_Ki -= 0.000001; Serial.print("pitch_Ki = ");Serial.println(pitch_Ki*10000); }else if(c=='h'){ pitch_Ki = INITPITCHKi; Serial.print("pitch_Ki = ");Serial.println(pitch_Ki*10000); }else if(c=='v'){ pitch_Kd += 1; Serial.print("pitch_Kd = ");Serial.println(pitch_Kd); }else if(c=='b'){ pitch_Kd -= 1; Serial.print("pitch_Kd = ");Serial.println(pitch_Kd); }else if(c=='n'){ pitch_Kd = INITPITCHKd; Serial.print("pitch_Kd = ");Serial.println(pitch_Kd); } //yaw debuging else if(c=='u'){ yaw_Kp += 0.01; Serial.print("yaw_Kp = ");Serial.println(yaw_Kp); }else if(c=='i'){ yaw_Kp -= 0.01; Serial.print("yaw_Kp = ");Serial.println(yaw_Kp); }else if(c=='o'){ yaw_Kp= INITYAWKp; Serial.print("yaw_Kp = ");Serial.println(yaw_Kp); }else if(c=='j'){ yaw_Ki += 0.000001; Serial.print("yaw_Ki = ");Serial.println(yaw_Ki*10000); }else if(c=='k'){ yaw_Ki -= 0.000001; Serial.print("yaw_Ki = ");Serial.println(yaw_Ki*10000); }else if(c=='l'){ yaw_Ki = INITYAWKi; Serial.print("yaw_Ki = ");Serial.println(yaw_Ki*10000); }else if(c=='m'){ yaw_Kd += 1; Serial.print("yaw_Kd = ");Serial.println(yaw_Kd); }else if(c==','){ yaw_Kd -= 1; Serial.print("yaw_Kd = ");Serial.println(yaw_Kd); }else if(c=='.'){ yaw_Kd = INITYAWKd; Serial.print("yaw_Kd = ");Serial.println(yaw_Kd); } else if(c=='p'){ Serial_print_sig = !(Serial_print_sig); }else if(c=='/'){ roll_print = !(roll_print); }else if(c=='*'){ pitch_print = !(pitch_print); }else if(c=='-'){ yaw_print = !(yaw_print); }else if(c=='+'){ hover_print = !(hover_print); } } void Serial_Monitor(void) { if(Serial_print_sig ==1 ){ if(roll_print == 1){ Serial.print("Roll=> ");Serial.print(DegRoll);Serial.print(", ");Serial.print(roll_p); Serial.print(", ");Serial.print(roll_i); Serial.print(", ");Serial.print(roll_d);Serial.print(", ");Serial.print(roll_val);Serial.print(", ");Serial.print(motor2Power);Serial.print(", ");Serial.println(motor4Power); }else if(pitch_print == 1){ Serial.print("Pitch=> ");Serial.print(DegPitch);Serial.print(", ");Serial.print(pitch_p); Serial.print(", ");Serial.print(pitch_i); Serial.print(", ");Serial.print(pitch_d);Serial.print(", ");Serial.print(pitch_val);Serial.print(", ");Serial.print(motor1Power);Serial.print(", ");Serial.println(motor3Power); }else if(yaw_print == 1){ Serial.print("Yaw=> ");Serial.print(DegYaw);Serial.print(", ");Serial.print(yaw_p); Serial.print(", ");Serial.print(yaw_i); Serial.print(", ");Serial.print(yaw_d);Serial.print(", ");Serial.println(yaw_val); } } if(Serial_print_sig == 0){ if(hover_print == 1){ Serial.print("hover = ");Serial.println(hover); hover_print =0; }else if(roll_print == 1){ Serial.print("roll_Kp = ");Serial.print(roll_Kp);Serial.print(", roll_Ki = ");Serial.print(roll_Ki*10000);Serial.print(", roll_Kd = ");Serial.println(roll_Kd); roll_print = 0; }else if(pitch_print == 1){ Serial.print("pitch_Kp = ");Serial.print(pitch_Kp);Serial.print(", pitch_Ki = ");Serial.print(pitch_Ki*10000);Serial.print(", pitch_Kd = ");Serial.println(pitch_Kd); pitch_print = 0; }else if(yaw_print == 1){ Serial.print("yaw_Kp = ");Serial.print(yaw_Kp);Serial.print(", yaw_Ki = ");Serial.print(yaw_Ki*10000);Serial.print(", yaw_Kd = ");Serial.println(yaw_Kd); yaw_print = 0; } } } //-----------------------------------------------------------------// // Wireless Controller //-----------------------------------------------------------------// void wirelessControllerBegin() { attachInterrupt(CH1, rising1, RISING); attachInterrupt(CH2, rising2, RISING); attachInterrupt(CH3, rising3, RISING); attachInterrupt(CH4, rising4, RISING); } void rising1() { attachInterrupt(CH1, falling1, FALLING); CH1_prev_time = micros(); } void falling1() { attachInterrupt(CH1, rising1, RISING); CH1_pwm_value = micros() - CH1_prev_time; } void rising2() { attachInterrupt(CH2, falling2, FALLING); CH2_prev_time = micros(); } void falling2() { attachInterrupt(CH2, rising2, RISING); CH2_pwm_value = micros() - CH2_prev_time; } void rising3() { attachInterrupt(CH3, falling3, FALLING); CH3_prev_time = micros(); } void falling3() { attachInterrupt(CH3, rising3, RISING); CH3_pwm_value = micros() - CH3_prev_time; } void rising4() { attachInterrupt(CH4, falling4, FALLING); CH4_prev_time = micros(); } void falling4() { attachInterrupt(CH4, rising4, RISING); CH4_pwm_value = micros() - CH4_prev_time; } void vlaueable_wfly(int* storage) { int temp_storage[4]; //---------------CH1------------------------ if(CH1_pwm_value>CH1_val+WFLYOFFSET | CH1_pwm_value<CH1_val-WFLYOFFSET) CH1_val = CH1_pwm_value; temp_storage[0] = map(CH1_val, CH1_MIN, CH1_MAX, (DEGRANGE*-1), DEGRANGE); catch_jumping_error(&temp_storage[0], &storage[0], CH1); if(storage[0] >=(CUTFORZERO*-1) & storage[0] <=CUTFORZERO) storage[0] = 0; //----------------CH2---------------------- if(CH2_pwm_value>CH2_val+WFLYOFFSET | CH2_pwm_value<CH2_val-WFLYOFFSET) CH2_val = CH2_pwm_value; temp_storage[1] = -1*map(CH2_val, CH2_MIN, CH2_MAX, (DEGRANGE*-1), DEGRANGE); catch_jumping_error(&temp_storage[1], &storage[1], CH2); if(storage[1]>=(CUTFORZERO*-1) & storage[1]<=CUTFORZERO) storage[1] = 0; //----------------CH3---------------------- if(CH3_pwm_value>CH3_val+WFLYOFFSET| CH3_pwm_value<CH3_val-WFLYOFFSET) CH3_val = CH3_pwm_value; temp_storage[2] = map(CH3_val, CH3_MIN, CH3_MAX, 0, TROTTLERANGE); catch_jumping_error(&temp_storage[2], &storage[2], CH3); //-----------------CH4---------------------- if(CH4_pwm_value>CH4_val+WFLYOFFSET | CH4_pwm_value<CH4_val-WFLYOFFSET) CH4_val = CH4_pwm_value; temp_storage[3] = -1*map(CH4_val, CH4_MIN, CH4_MAX, (DEGRANGE*-1), DEGRANGE); catch_jumping_error(&temp_storage[3], &storage[3], CH4); if(storage[3]>=(CUTFORZERO*-1) & storage[3]<=CUTFORZERO) storage[3] = 0; /* Serial.print(controll_val[0]);Serial.print(", "); Serial.print(controll_val[1]);Serial.print(", "); Serial.print(controll_val[2]);Serial.print(", "); Serial.print(controll_val[3]);Serial.print(", "); Serial.println(""); */ } void catch_jumping_error(int * temp_val, int * val, int ch_num) { static int checkArray[CHENELNUM][CHECKINGNUM]; int sum=0; checkArray[ch_num][0] = *temp_val; //equal?? for(int i=0; i<CHECKINGNUM; i++) sum += checkArray[ch_num][i]; if(* temp_val == sum/CHECKINGNUM) *val = * temp_val; //shift for(int i=CHECKINGNUM-1; i>=0; i--) checkArray[ch_num][i+1] = checkArray[ch_num][i]; } //---------------------------------------------------------------------// // // main // //--------------------------------------------------------------------// void setup() { Serial.begin(115200); Serial1.begin(57600); //callibration(); wirelessControllerBegin(); motorBegin(); } void loop() { if(Serial1.available()) //데이터 받기. { if(recieve_data()==1){ //데이터 다 받음? vlaueable_wfly(&controll_val[0]); //조종값 if(trans_data_to_degree(SBuf)==1) //센서값. { if(initial == 0){ yaw_setpoint = DegYaw; initial = 1; //Serial.println(yaw_setpoint); } //PID rollControll = roll_pid(controll_val[3], DegRoll); pitchControll = pitch_pid(controll_val[1], DegPitch); yawControll = yaw_pid(yaw_setpoint, DegYaw); run_motors(controll_val[2], rollControll, pitchControll, yawControll); //Run motor if(Serial.available()){ //통신입력? from_computer(); //입력받기. } Serial_Monitor(); //Debugging } } } } | cs |
모터 구동을 하면서 카메라가 제대로 나오는지 테스트 해보았다.
이 테스트가 되면 하드웨어를 조립해서 보든 부품들이 정상적으로 동작한 다는 것이였다.
결과적으로 잘 동작했다!!
참고
-X형 드론 모터 구동방법
http://technicaladventure.blogspot.kr/2012/09/quadcopter-stabilization-control-system.html
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