public Controller(MotorMixer mixer, PID pid, Gyro gyro, Radio radio, ControllerLoopSettings loopSettings)
{
long currentTime = DateTime.Now.Ticks;
long previousTime = DateTime.Now.Ticks;
long lastRadioTime = 0;
long lastControlTime = 0;
bool systemArmed = false;
while (true)
{
if (currentTime >= (lastRadioTime + loopSettings.RadioLoopPeriod))
{
lastRadioTime = currentTime;
radio.Update();
systemArmed = radio.Throttle > loopSettings.MinimumThrottle;
currentTime = DateTime.Now.Ticks;
}
if (currentTime >= (lastControlTime + loopSettings.ControlAlgorithmPeriod))
{
lastControlTime = currentTime;
if (systemArmed)
{
gyro.Update();
pid.Update(radio.AngularVelocity, gyro.AngularVelocity, (float) (currentTime - previousTime)/loopSettings.LoopUnit);
mixer.Update(radio.Throttle, pid.Output);
}
else
{
mixer.SetSafe();
}
previousTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
}
}
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;
}
}
}
public ControllerWithLoopTimeDebug(MotorMixer mixer, AxesController pid, Gyro gyro, Radio radio, ControllerLoopSettings loopSettings, MotorSettings motorSettings, ILogger logger)
{
long lastRadioTime = 0;
long lastSensorTime = 0;
long lastControlTime = 0;
long lastMotorTime = 0;
long lastTelemetryTime = 0;
float currentRadioFrequency = 0;
float currentSensorFrequency = 0;
float currentControlFrequency = 0;
float currentMotorFrequency = 0;
bool systemArmed = false;
SerialPort serialPort = new SerialPort("COM1",115200);
serialPort.Open();
while (true)
{
long currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastRadioTime + loopSettings.RadioLoopPeriod))
{
currentRadioFrequency = loopSettings.LoopUnit / (float)(currentTime - lastRadioTime);
radio.Update();
systemArmed = radio.Throttle > motorSettings.MinimumOutput;
if (!systemArmed)
logger.Flush();
lastRadioTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastSensorTime + loopSettings.SensorLoopPeriod))
{
currentSensorFrequency = loopSettings.LoopUnit / (float)(currentTime - lastSensorTime);
gyro.Update();
lastSensorTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastControlTime + loopSettings.ControlAlgorithmPeriod))
{
currentControlFrequency = loopSettings.LoopUnit / (float)(currentTime - lastControlTime);
if (systemArmed)
pid.Update(radio.Axes, gyro.Axes, (float)(currentTime - lastControlTime) / loopSettings.LoopUnit);
lastControlTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastMotorTime + loopSettings.MotorLoopPeriod))
{
currentMotorFrequency = loopSettings.LoopUnit / (float)(currentTime - lastMotorTime);
if (systemArmed)
mixer.Update(radio.Throttle, pid.Axes);
else
mixer.SetSafe();
lastMotorTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastTelemetryTime + loopSettings.TelemetryLoopPeriod))
{
float currentTelemetryFrequency = loopSettings.LoopUnit / (float)(currentTime - lastTelemetryTime);
byte[] buffer = System.Text.Encoding.UTF8.GetBytes( "\r" + currentTime +
"\tR: " + currentRadioFrequency +
"\tS: " + currentSensorFrequency +
"\tC: " + currentControlFrequency +
"\tM: " + currentMotorFrequency +
"\tT: " + currentTelemetryFrequency + "\t");
serialPort.Write(buffer, 0, buffer.Length);
lastTelemetryTime = currentTime;
}
}
}