version 1.1

DRONE.cpp

@@ -20,23 +20,23 @@ MotorGyro motorGyro[] = {
 DRONE::DRONE() {
 }
 
-void DRONE::setPinESC(int pin, MotorPosition mp) {
+void DRONE::setPinESC(int pin, MotorPosition mp, int speedOffset) {
   switch (mp) {
     case BR:
       back_right.setMotorPosition(mp);
-      back_right.setPinESC(pin); 
+      back_right.setPinESC(pin, speedOffset); 
       break;
     case BL:
       back_left.setMotorPosition(mp);
-      back_left.setPinESC(pin);
+      back_left.setPinESC(pin, speedOffset);
       break;
     case FR:
       front_right.setMotorPosition(mp);
-      front_right.setPinESC(pin);
+      front_right.setPinESC(pin, speedOffset);
       break;
     case FL:
       front_left.setMotorPosition(mp);
-      front_left.setPinESC(pin);
+      front_left.setPinESC(pin, speedOffset);
       break;
   }
 }
@@ -73,10 +73,10 @@ void DRONE::decelerate() {
 }
 
 void DRONE::stop() {
-  back_right.setSpeed(1000);
-  back_left.setSpeed(1000);
-  front_left.setSpeed(1000);
-  front_right.setSpeed(1000);
+  back_right.stop();
+  back_left.stop();
+  front_left.stop();
+  front_right.stop();
 }
 
 String DRONE::getSpeedFromMotor(MotorPosition mp) {
@@ -112,7 +112,7 @@ void DRONE::updateMotors(float* mpuValues) {
   float pitch = mpuValues[0];
   float roll = mpuValues[1];
 
-  float threshold = 0.3;
+  float threshold = 0.5;
 
   PitchRollStates pitchStatus = IDLE;
   if (pitch < -threshold) {
@@ -128,7 +128,7 @@ void DRONE::updateMotors(float* mpuValues) {
     rollStatus = PLUS;
   }
 
-  // Serial.println("PS: " + String(pitchStatus) + " | RS: " + String(rollStatus)); 
+  Serial.println("PS: " + String(pitchStatus) + " | RS: " + String(rollStatus)); 
 
   int numCond = sizeof(motorGyro) / sizeof(motorGyro[0]);
   for (int i = 0; i < numCond; i++) {

DRONE.h

@@ -21,7 +21,7 @@ class DRONE {
     RadioController radio;
     GYRO gyro;
     DRONE();
-    void setPinESC(int pin, MotorPosition mp);
+    void setPinESC(int pin, MotorPosition mp, int speedOffset);
     void setSpeed(int speed, MotorPosition mp);
     void accelerate();
     void decelerate();

DroneReceiver.ino

@@ -29,10 +29,10 @@ void setup() {
   }
 
   // set drone motorPins
-  drone.setPinESC(6, MotorPosition::FR);
-  drone.setPinESC(7, MotorPosition::FL);
-  drone.setPinESC(5, MotorPosition::BR);
-  drone.setPinESC(8, MotorPosition::BL);
+  drone.setPinESC(6, MotorPosition::FR, 70); // 1080
+  drone.setPinESC(7, MotorPosition::FL, 120); // 1130
+  drone.setPinESC(5, MotorPosition::BR, 30); // 1040
+  drone.setPinESC(8, MotorPosition::BL, 190); // 1200
 
 
   lastReceivedMessage = millis();
@@ -93,7 +93,7 @@ void loop() {
 
 
 
-  drone.update();
+  // drone.update();
 
   delay(10);
   // delay(1000);
@@ -109,10 +109,10 @@ void manualMotorSpeed() {
     }
   }
 
-  if (val < MOTOR().minSpeed)
-    val = MOTOR().minSpeed;
-  else if (val > MOTOR().maxSpeed)
-    val = MOTOR().maxSpeed;
+  // if (val < MOTOR().getMinSpeed())
+  //   val = MOTOR().getMinSpeed();
+  // else if (val > MOTOR().getMaxSpeed())
+  //   val = MOTOR().getMaxSpeed();
 
   if ((millis() - startTime) >= delayTime && gotSerialData == true) {
     drone.setSpeed(val, MotorPosition::FR);

MOTOR.cpp

@@ -5,8 +5,11 @@ void MOTOR::setMotorPosition(MotorPosition mp) {
   motorPosition = mp;
 }
 
-void MOTOR::setPinESC(int pin) {
+void MOTOR::setPinESC(int pin, int speedOffset) {
   pinESC = pin;
+  speedOffset -= 10; // error tolerance
+  minSpeed += speedOffset;
+  maxSpeed += speedOffset;
   esc.attach(pinESC, minSpeed, maxSpeed);
   setSpeedInternal(minSpeed);
 }
@@ -18,7 +21,7 @@ void MOTOR::setSpeedInternal(int speed) {
   }
   currentSpeed = speed;
   esc.write(currentSpeed);
-  Serial.println("MP:" + String(motorPosition) + "|Speed:" + String(currentSpeed)); 
+  Serial.println("MP:" + String(motorPosition) + "|Speed:" + String(getSpeed())); 
 }
 
 void MOTOR::setSpeed(int speed) {
@@ -26,7 +29,7 @@ void MOTOR::setSpeed(int speed) {
 }
 
 int MOTOR::getSpeed() {
-  return currentSpeed;
+  return map(currentSpeed, minSpeed, maxSpeed, 0, 255);
 }
 
 void MOTOR::accelerate() {
@@ -37,4 +40,8 @@ void MOTOR::accelerate() {
 void MOTOR::decelerate() {
   int speed = currentSpeed - speedInterval;
   setSpeedInternal(speed);
+}
+
+void MOTOR::stop() {
+  setSpeedInternal(minSpeed);
 }

MOTOR.h

@@ -13,17 +13,18 @@ class MOTOR {
     int currentSpeed;
     void setSpeedInternal(int speed);
     MotorPosition motorPosition;
+    int minSpeed = 1000;
+    int maxSpeed = 2000;
+    const int speedInterval = 10;
 
   public:
-    const int minSpeed = 1000;
-    const int maxSpeed = 2000;
-    const int speedInterval = 10;
     void setMotorPosition(MotorPosition mp);
-    void setPinESC(int pin);
+    void setPinESC(int pin, int speedOffset);
     void setSpeed(int speed);
     int getSpeed();
     void accelerate();
     void decelerate();
+    void stop();
 };
 
 #endif

README.md

@@ -0,0 +1,4 @@
+#DroneReceiver
+
+
+Is a Arduino Script that controlls the drone body

RadioController.cpp

@@ -8,27 +8,17 @@ void RadioController::setup(int cepin, int cspin) {
     Serial.println("Error initializing radio");
   } else {
     Serial.println("Succesfully initializing radio");
-    // radio.openWritingPipe(writePipe); 
-    // radio.openReadingPipe(1, readPipe);
-    // radio.setPALevel(RF24_PA_MAX);
-    // radio.disableDynamicPayloads();
-    // radio.setAutoAck(false); 
     // radio.setRetries(5, 15);
 
     
-    // radio.setDataRate( RF24_250KBPS );
-    // radio.openReadingPipe(1, readPipe);
-
-    // radio.enableAckPayload();
-    
-    // radio.startListening();
+    radio.setDataRate( RF24_250KBPS );
 
     uint8_t address[][6] = { "1Node", "2Node" };
     
     // Set the PA Level low to try preventing power supply related problems
     // because these examples are likely run with nodes in close proximity to
     // each other.
-    radio.setPALevel(RF24_PA_LOW);  // RF24_PA_MAX is default.
+    radio.setPALevel(RF24_PA_HIGH);  // RF24_PA_MAX is default.
 
     // to use ACK payloads, we need to enable dynamic payload lengths (for all nodes)
     radio.enableDynamicPayloads();  // ACK payloads are dynamically sized