2016. 2. 8. 02:58
PID 테스트 시작 작품/쿼드콥터2016. 2. 8. 02:58
PID테스트하기 위한 개발환경 구축
PID테스트를 시작하기 시작하였다.
우선 쿼드콥터를 제어하기위해 개발환경을 나름 최적으로 만들어야 했다.
우선 이때까지 아두이노 IDE를 쓰다가 그 불편함 때문에 visual studio에서 아두이노로 바로 업로드 할 수 있게 하였다.
그 프로그램은 visualmicro라고 하는 것인데 이것을 통해서 visual studio의 장점을 활용하면서 arduino의 코드를 디버깅 할 수 있게 되었다.
다음으로 PID제어를 할 수 있도록 드론을 지지대에 묶었고 긴 USB케이블로 노트북과 연결하여 시리얼 모니터 창으로 값들을 디버깅 할 수 있도록 하였다.
물론 조종은 무선 조종기로 throttle과 roll, pitch를 조종하도록 하였다.
yaw값은 일단은 조종에서 빼고 처음에 향하는 방향을 초깃값으로 설정하도록 하였다.
그리고 드론이 잘 못된 제어로 갑자기 확 쎄지거나 회전해서 선이 꼬여버리면 큰일 이기 때문에 그것을 방지 할 수 있게 안전 수단을 만들었다.
첫 번째로는 Throttle이 제일 아래로 되어 있으면 PID제어에 관계없이 모터의 모든 값을 0으로 되게 하였다.
두 번째로는 yaw키는 일단은 쓰지 않기 때문에 yaw 조종값이 제일 크게 올라가면 모든 모터 값이 0이 되도록 하였다.
이렇게 함으로써 소프트웨어적으로 긴급상황에 대처할 수 있게 하였다.
세 번째로는 배터리와 드론사이에 길게 선을 빼서 스위치를 달았다.
그래서 이 스위치를 켜면 드론에 전원이 공급되고 스위치를 끄면 배터리를 뗀것 같은 효과를 주어서 하드웨어적으로 긴급상황에 대처할 수 있도록 하였다.
PID테스트
다음 코드를 이용하여 PID테스트를 해보았다.
나름 균형을 잡고 있는 것 같다.
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// 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///////////////// 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 0.48//0.19//0.29 #define INITROLLKi 0.000850//0.000850//0.000287 #define INITROLLKd 33 #define INITPITCHKp 0.29 #define INITPITCHKi 0.000287 #define INITPITCHKd 33 #define INITYAWKp 0.29 #define INITYAWKi 0.000287 #define INITYAWKd 33 #define MAXSPEED 3 #define MINSPEED 100 #define INITROLLSETPOINT -0.60 #define INITPITCHSETPOINT -0.67 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[CHENELNUM]; int* ptr; ///////////////////////////////////////////////////////////////////// //---------------------------------------------------------------------// // // funtions // //--------------------------------------------------------------------// //----------------------------------------------------------------// // BLDC Motor //---------------------------------------------------------------// //esc占쏙옙占쏙옙 占싹깍옙 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); } //占쏙옙占쏘값占쏙옙 占쌨어서 占쏙옙占쏙옙 占쏙옙占쏙옙 void run_motors(int throttle, int rollOffset, int pitchOffset, int yawOffset) { //emergency if (controll_val[0] > 30 || throttle < 5){ throttle = 0; rollOffset = 0; pitchOffset= 0; yawOffset = 0; } //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); /* Serial.print(motor1Power); Serial.print(", "); Serial.print(motor2Power); Serial.print(", "); Serial.print(motor3Power); Serial.print(", "); Serial.print(motor4Power); Serial.println(" "); */ } void limit_max_min(int* pwm)//modify { if (*pwm>MAX_PWM) *pwm = MAX_PWM; else if (*pwm<MIN_PWM) *pwm = MIN_PWM; } //---------------------------------------------------------// // IMU Sensor //--------------------------------------------------------// //占쏙옙占쏙옙占쏙옙占쏙옙 占싻어서 roll,pitch,yaw 占쏙옙占쏙옙 占싯아놂옙占쏙옙. 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 //----------------------------------------------------------// //占쏙옙占쏙옙 占쏙옙占쏙옙 占쌨아쇽옙 PID占쏙옙占쏘값 占쏙옙占?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(115200); //callibration(); wirelessControllerBegin(); motorBegin(); } void loop() { if (Serial1.available()) //占쏙옙占쏙옙占쏙옙 占쌨깍옙. { if (recieve_data() == 1){ //占쏙옙占쏙옙占쏙옙 占쏙옙 占쏙옙占쏙옙? vlaueable_wfly(&controll_val[0]); //占쏙옙占쏙옙占쏙옙 if (trans_data_to_degree(SBuf) == 1) //占쏙옙占쏙옙占쏙옙. { 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 motor run_motors(controll_val[2], rollControll, pitchControll, yawControll); if (Serial.available()){ //占쏙옙占쏙옙韜占? from_computer(); //占쌉력받깍옙. } Serial_Monitor(); //Debugging } } } } | cs |
참고
-visualmicro 개발 환경 구축 방법
http://talkingaboutme.tistory.com/206
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Manual for WFT06X.pdf
