Multi Rotor project

[thoha]

pake 1 MC saja pak attiny 2313
atau atmega8 (nanti bisa ditambah code ADC mixing)

- 3 input (aileron-elevator-throttle)
- 3 output (CCPM)
seperti ini pak


a = cc * ( elevator * cos (alpha + 0) + aileron * cos (alpha + 90) ) + pc * pitch
b = cc * ( elevator * cos (alpha + 120) + aileron * cos (alpha + 210) ) + pc * pitch
c = cc * ( elevator * cos (alpha + 240) + aileron * cos (alpha + 330) ) + pc * pitch

[rachmatjeny]

wakakak...
ini mah yang taun lalu ya?

udah di coba belum?

[thoha]

wakakak...
ini mah yang taun lalu ya?

udah di coba belum?

lhah ya dulu nggak bisa jalan

yg ini kan

Code: Select all

/*****************************************************
This program was produced by the
CodeWizardAVR V1.25.7 beta 5 Professional
Automatic Program Generator
© Copyright 1998-2007 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project : 
Version : 
Date    : 7/21/2009
Author  : F4CG                            
Company : F4CG                            
Comments: 


Chip type           : ATmega8515
Program type        : Application
Clock frequency     : 11.059200 MHz
Memory model        : Small
External SRAM size  : 0
Data Stack size     : 128
*****************************************************/

#include <mega8515.h>
#include <math.h>
#include <delay.h>
#define aileron PINC.0
#define elevator PINC.1
#define pitch PINC.1
#define out1 PORTC.2
#define out2 PORTC.3
#define out3 PORTC.4

int ram_aileron,ram_elevator,ram_pitch;
// Declare your global variables here

long cc,a,b,c,pc,alpha;


void kirim_servo(long nilai,char port){

switch (port){
case 0: out1=1;out2=0;out3=0;
case 1: out1=0;out2=1;out3=0;
case 2: out1=0;out2=0;out3=1;
}                           
while (nilai--){
delay_us(1);
}                            
out1=0;out2=0;out3=0;
}
void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTB=0x00;
DDRB=0x00;

// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTC=0x00;
DDRC=0x00;

// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTD=0x00;
DDRD=0x00;

// Port E initialization
// Func2=In Func1=In Func0=In 
// State2=T State1=T State0=T 
PORTE=0x00;
DDRE=0x00;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
EMCUCR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;

DDRC=0;
PORTC=0xFF;

/*
#define aileron PINC.0
#define elevator PINC.1
#define pitch PINC.1

*/

DDRC.2=1;
DDRC.3=1;
DDRC.4=1;


cc=0;//nilai ini coba dirubah2
pc=0;//nilai ini coba dirubah2

while (1)
      {
while (!aileron){;ram_aileron=0;}

while (aileron){ram_aileron++;delay_us(1);}

while (!elevator){ram_elevator=0;}

while (elevator){ram_elevator++;delay_us(1);}

while (!pitch){;ram_pitch=0;}

while (pitch){ram_pitch++;delay_us(1);}         

a = cc * ( ram_elevator * cos (alpha + 0) + ram_aileron * cos (alpha + 90) ) + pc * ram_pitch;
b = cc * ( ram_elevator * cos (alpha + 120) + ram_aileron * cos (alpha + 210) ) + pc * ram_pitch;
c = cc * ( ram_elevator * cos (alpha + 240) + ram_aileron * cos (alpha + 330) ) + pc * ram_pitch ;

kirim_servo(a,0);
kirim_servo(b,1);
kirim_servo(c,2);

      };
}

[dino]

manthap tenan.....sdh bkn sy puyeng lihat tulisan2 diatas.... so ditunggu maidenya sekalian mnt ijin menyimak

[thoha]

#-o manthap tenan.....sdh bkn sy puyeng lihat tulisan2 diatas.... so ditunggu maidenya sekalian mnt ijin menyimak

jangan lupa ikutan bikin juga
yg jelas lebih hemat dari helicopter
lebih bandel kalau crash
lebih stabil dan bisa membawa kamera
mudah membuatnya
frame bisa buat sendiri

[thoha]

wah gyronya datang terlambat
masih juga belum dikirim
masih 'Processing'
kayknya stock pas abis.

your order will stay on 'Processing' until the item arrives into stock.

[dino]

bagi dung ilmu program memogramnya suhu..... ....mode menanti on

[Pitra Ratulangi]

Lanjutkan om thoha,..pasti suatu saat akan bermanfaat..

[didin]

Mantabs Pak Thoha....

Ikut menyimak....pasti oke punya...

[thoha]

terima kasih atas dukungan dari semua
smoga tricopter ini bisa menjadi alternatif
buat yg pengen punya heli murah bandel
dan mudah diterbangkan