public ControllerWithAsyncronousTelemetry(
MotorMixer mixer,
AxesController pid,
Gyro gyro,
Accelerometer accelerometer,
Radio radio,
ControllerLoopSettings loopSettings,
MotorSettings motorSettings,
ILogger logger)
{
_mixer = mixer;
_pid = pid;
_gyro = gyro;
_accelerometer = accelerometer;
_radio = radio;
_loopSettings = loopSettings;
_motorSettings = motorSettings;
_logger = logger;
_serialPort.DataReceived += new SerialDataReceivedEventHandler(serialPort_DataReceived);
_serialPort.Open();
Thread.Sleep(1000);
gyro.Zero();
accelerometer.Zero();
Start();
}
public Controller(MotorMixer mixer, AxesController pid, Gyro gyro, Accelerometer accelerometer, Radio radio, ControllerLoopSettings loopSettings, MotorSettings motorSettings, ILogger logger)
{
TelemetryData telemetryData = new TelemetryData();
long previousTime = DateTime.Now.Ticks;
long lastRadioTime = 0;
long lastSensorTime = 0;
long lastControlTime = 0;
long lastMotorTime = 0;
long lastTelemetryTime = 0;
bool systemArmed = false;
Thread.Sleep(1000);
gyro.Zero();
accelerometer.Zero();
while (true)
{
long currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastRadioTime + loopSettings.RadioLoopPeriod))
{
lastRadioTime = currentTime;
radio.Update();
systemArmed = radio.Throttle > motorSettings.MinimumOutput;
if (!systemArmed)
logger.Flush();
}
currentTime = DateTime.Now.Ticks;
if (systemArmed && (currentTime >= (lastSensorTime + loopSettings.SensorLoopPeriod)))
{
lastSensorTime = currentTime;
gyro.Update();
accelerometer.Update();
}
currentTime = DateTime.Now.Ticks;
if (systemArmed && (currentTime >= (lastControlTime + loopSettings.ControlAlgorithmPeriod)))
{
lastControlTime = currentTime;
pid.Update(radio.Axes, gyro.Axes, (float) (currentTime - previousTime)/loopSettings.LoopUnit);
previousTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastMotorTime + loopSettings.MotorLoopPeriod))
{
if (systemArmed)
mixer.Update(radio.Throttle, pid.Axes);
else
mixer.SetSafe();
lastMotorTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (systemArmed && (currentTime >= (lastTelemetryTime + loopSettings.TelemetryLoopPeriod)))
{
telemetryData.Update(gyro.Axes, radio.Axes, pid.Axes, currentTime);
lastTelemetryTime = currentTime;
logger.Write(telemetryData);
}
if (!systemArmed)
pid.ZeroIntegral();
}
}
public ControllerWithGyroDebug(MotorMixer mixer, AxesController pid, Gyro gyro, Accelerometer accelerometer,Radio radio, ControllerLoopSettings loopSettings, MotorSettings motorSettings, ILogger logger)
{
long lastRadioTime = 0;
long lastSensorTime = 0;
long lastControlTime = 0;
long lastMotorTime = 0;
long lastTelemetryTime = 0;
bool systemArmed = false;
var serialPort = new SerialPort("COM1",115200);
serialPort.Open();
while (true)
{
long currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastRadioTime + loopSettings.RadioLoopPeriod))
{
radio.Update();
systemArmed = radio.Throttle > motorSettings.MinimumOutput;
if (!systemArmed)
logger.Flush();
lastRadioTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastSensorTime + loopSettings.SensorLoopPeriod))
{
gyro.Update();
lastSensorTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastControlTime + loopSettings.ControlAlgorithmPeriod))
{
if (systemArmed)
pid.Update(radio.Axes, gyro.Axes, (float)(currentTime - lastControlTime) / loopSettings.LoopUnit);
lastControlTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastMotorTime + loopSettings.MotorLoopPeriod))
{
if (systemArmed)
mixer.Update(radio.Throttle, pid.Axes);
else
mixer.SetSafe();
lastMotorTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastTelemetryTime + loopSettings.TelemetryLoopPeriod))
{
Debug.Print(
//byte[] buffer = System.Text.Encoding.UTF8.GetBytes( //"\r" + currentTime +
//"\tR:" + radio.Axes.Pitch +);
"\rP:" + gyro.Axes.Pitch +
"\rR:" + gyro.Axes.Roll +
"\rY:" + gyro.Axes.Yaw
//"\tP" + pid.Axes.Pitch
);
//serialPort.Write(buffer, 0, buffer.Length);
lastTelemetryTime = currentTime;
}
}
}
public ControllerWithAccelerometerDebug(MotorMixer mixer, AxesController pid, Gyro gyro, Accelerometer accelerometer, Radio radio, ControllerLoopSettings loopSettings, MotorSettings motorSettings, ILogger logger)
{
long lastRadioTime = 0;
long lastSensorTime = 0;
long lastControlTime = 0;
long lastMotorTime = 0;
long lastTelemetryTime = 0;
bool systemArmed = false;
Thread.Sleep(1000);
gyro.Zero();
accelerometer.Zero();
var serialPort = new SerialPort("COM1",115200);
serialPort.Open();
while (true)
{
long currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastRadioTime + loopSettings.RadioLoopPeriod))
{
radio.Update();
systemArmed = radio.Throttle > motorSettings.MinimumOutput;
if (!systemArmed)
logger.Flush();
lastRadioTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastSensorTime + loopSettings.SensorLoopPeriod))
{
gyro.Update();
accelerometer.Update();
lastSensorTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastControlTime + loopSettings.ControlAlgorithmPeriod))
{
if (systemArmed)
pid.Update(radio.Axes, gyro.Axes, (float)(currentTime - lastControlTime) / loopSettings.LoopUnit);
lastControlTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastMotorTime + loopSettings.MotorLoopPeriod))
{
if (systemArmed)
mixer.Update(radio.Throttle, pid.Axes);
else
mixer.SetSafe();
lastMotorTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastTelemetryTime + loopSettings.TelemetryLoopPeriod))
{
byte[] buffer= new byte[12];
BitConverter.ToBytes(ref buffer, 0, accelerometer.Axes.Pitch);
BitConverter.ToBytes(ref buffer, 4, accelerometer.Axes.Roll);
BitConverter.ToBytes(ref buffer, 8, accelerometer.Axes.Yaw);
serialPort.Write(buffer, 0, buffer.Length);
lastTelemetryTime = currentTime;
}
}
}