Wash Uav Final Demo Sean Reynolds CX2 • • • • • Show Throttle Control Show Rudder Control Show Cyclic Proximity Control Show Hover with proximity Crash!
Download ReportTranscript Wash Uav Final Demo Sean Reynolds CX2 • • • • • Show Throttle Control Show Rudder Control Show Cyclic Proximity Control Show Hover with proximity Crash!
Wash Uav Final Demo
Sean Reynolds
CX2
• • • • • Show Throttle Control Show Rudder Control Show Cyclic Proximity Control Show Hover with proximity Crash!
Code
• • • • • • • • • • • • • • // accelerometers gyro #define AccelerometerMode 0 // throttle rudder #define ThrottleRudderMode 2 // user input #define LaptopInputMode 1 // mote holds heli control routines.
#define HelicopterControlMode 2 // control the swashplate with 3 servos #define HelicopterSwashMixing 0 // use proximity sensors as #define ProximityCyclic 1 // use accelerometer to demo cyclic control #define AccelerometerCyclic 0
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Code
void calculateOutput() { #if AccelerometerCyclic > 0 inputLeftRight = 90 + sensors.HoverElevator(); inputForwardBackward = 90 + sensors.HoverAileron(); #endif #if HelicopterSwashMixing > 0 degreeThrottle = inputThrottle; degreeAileron = 90 + (90 - inputBladePitch) - (2 * (90 - inputLeftRight)) + (90 - inputForwardBackward); degreeAuxSwash = 90 - (90 - inputBladePitch) - (2 * (90 - inputLeftRight)) - (2 * (90 - inputForwardBackward)); degreeElevator = 90 + (90 - inputBladePitch) - (2 * (90 - inputForwardBackward)); degreeRudder = inputRudder; #else if(!takeOff){ if(takenOff){ degreeThrottle = sensors.HoverThrottle(); } } degreeElevator = 90 + sensors.HoverElevator(); degreeAileron = 90 + sensors.HoverAileron(); degreeRudder = 90 + sensors.HoverRudder(); } #endif fixDegrees(degreeThrottle); fixDegrees(degreeElevator); fixDegrees(degreeAileron); fixDegrees(degreeAuxSwash);
Code
• degreeThrottle = inputThrottle; • degreeAileron = 90 + (90 - inputBladePitch) - (2 * (90 - inputLeftRight)) + (90 inputForwardBackward); • degreeAuxSwash = 90 - (90 - inputBladePitch) - (2 * (90 - inputLeftRight)) - (2 * (90 inputForwardBackward)); • degreeElevator = 90 + (90 - inputBladePitch) - (2 * (90 - inputForwardBackward)); • degreeRudder = inputRudder;
B400
• • • Show Rig Show Control With Accelerometer Controller Demo Weapons System!
Problem Videos
• In case all else fails: