public static void Main()
{
//Initialize motors first
MotorSettings motorSettings = GetMotorSettings();
Motor frontMotor = new PWMMotor(new PWM((Cpu.Pin) FezPin.PWM.Di8, 4000000), motorSettings);
Motor rearMotor = new PWMMotor(new PWM((Cpu.Pin) FezPin.PWM.Di10, 4000000), motorSettings);
Motor leftMotor = new PWMMotor(new PWM((Cpu.Pin) FezPin.PWM.Di9, 4000000), motorSettings);
Motor rightMotor = new PWMMotor(new PWM((Cpu.Pin) FezPin.PWM.Di6, 4000000), motorSettings);
MotorMixer mixer = new QuadMixer(frontMotor, rearMotor, leftMotor, rightMotor);
//Telemetry
ISDCard sdCard = (ISDCard) new SDCard();
if (Configuration.DebugInterface.GetCurrent() == Configuration.DebugInterface.Port.USB1)
sdCard.MountFileSystem();
else
new TelemetryPresenter(sdCard,(Cpu.Pin) FezPin.Digital.LED);
ILogger logger = new PersistenceWriter(new FileStream(@"\SD\telemetry.bin",FileMode.OpenOrCreate), new TelemetryFormatter());
//Sensors
I2CBus twiBus = new I2CBus();
Gyro gyro = new ITG3200(twiBus, GetGyroFactor());
Radio radio = new DefaultRadio(twiBus, GetRadioSettings());
//Control Algoriths
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
ControllerLoopSettings loopSettings = GetLoopSettings();
Controller controller = new Controller(mixer, axesController, gyro, radio, loopSettings, GetMotorSettings(),logger);
//controller.Start();
}
public BMA180(I2CBus twiBus, AccelerometerSettings accelerometerSettings)
: base(new AircraftPrincipalAxes())
{
_twiBus = twiBus;
_accelerometerSettings = accelerometerSettings;
Initialize();
}
public ITG3200(I2CBus twiBus, GyroSettings gyroSettings)
: base(new AircraftPrincipalAxes())
{
_twiBus = twiBus;
_gyroSettings = gyroSettings;
Initialize();
}
public static void Main()
{
MotorSettings motorSettings = GetMotorSettings();
Motor frontMotor = new PWMMotor(new PWM((Cpu.Pin)FEZ_Pin.PWM.Di6, 4000000), motorSettings);
Motor rearMotor = new PWMMotor(new PWM((Cpu.Pin)FEZ_Pin.PWM.Di9, 4000000), motorSettings);
Motor rightMotor = new PWMMotor(new PWM((Cpu.Pin)FEZ_Pin.PWM.Di10, 4000000), motorSettings);
Motor leftMotor = new PWMMotor(new PWM((Cpu.Pin)FEZ_Pin.PWM.Di8, 4000000), motorSettings);
MotorMixer mixer = new QuadMixer(frontMotor, rearMotor, leftMotor, rightMotor);
//Sensors
I2CBus twiBus = new I2CBus();
Gyro gyro = new ITG3200(twiBus);
Thread.Sleep(2000);
gyro.Zero();
Radio radio = new DotCopterRadio(twiBus, GetRadioSettings());
//Control Algoriths
PID pid = new PIDWindup(GetPIDSettings());
ControllerLoopSettings loopSettings = GetLoopSettings();
new Controller(mixer, pid, gyro, radio, loopSettings);
}
public static void Main()
{
MotorSettings motorSettings = GetMotorSettings();
Motor frontMotor = new PWMMotor(new PWM(Pins.GPIO_PIN_D10, 2 * 1000), motorSettings);
Motor rearMotor = new PWMMotor(new PWM(Pins.GPIO_PIN_D5, 2 * 1000), motorSettings);
Motor rightMotor = new PWMMotor(new PWM(Pins.GPIO_PIN_D9, 2 * 1000), motorSettings);
Motor leftMotor = new PWMMotor(new PWM(Pins.GPIO_PIN_D6, 2 * 1000), motorSettings);
MotorMixer mixer = new QuadMixer(frontMotor, rearMotor, leftMotor, rightMotor);
//Sensors
I2CBus twiBus = new I2CBus();
Gyro gyro = new ITG3200(twiBus);
gyro.Zero();
Radio radio = new DotCopterRadio(twiBus, GetRadioSettings());
//Control Algoriths
PID pid = new PIDWindup(GetPIDSettings());
ControllerLoopSettings loopSettings = GetLoopSettings();
OutputPort led = new OutputPort(Pins.ONBOARD_LED,true);
new Controller(mixer, pid, gyro, radio, loopSettings);
}
private Scale _scale = new Scale(0, 1/0.25F, 0); //Must be set to match range selection
#endregion Fields
#region Constructors
public BMA180(I2CBus twiBus)
: base(new Vector3D())
{
_twiBus = twiBus;
Initialize();
}
public DefaultRadio(I2CBus twiBus, RadioSettings settings)
: base(0,new AircraftPrincipalAxes { Pitch = 0, Roll = 0, Yaw = 0 },false)
{
_twiBus = twiBus;
_settings = settings;
}
public DotCopterRadio(I2CBus twiBus, RadioSettings settings)
: base(0,new Vector3D(),false)
{
_twiBus = twiBus;
_settings = settings;
}
public ITG3200(I2CBus twiBus)
: base(new Vector3D())
{
_twiBus = twiBus;
Initialize();
}
public ITG3200(I2CBus twiBus, float factor) : base(new AircraftPrincipalAxes())
{
_twiBus = twiBus;
_factor = factor;
Initialize();
}
