The ENCE361 Embedded Systems 1 course requires the design of a scale helicopter controller using the Texas Instruments TM4C123GXL Launchpad development board, and the Digilent Orbit BoosterPack
- Bailey Lissington
- Dillon Pike
- Joseph Ramirez
Uncomment the respective lines in alt.c and main.c to alter the running mode of the helicopter controller.
//#define TESTING
Uses the built-in potentiometer for voltage measurement rather than PE4. Useful for testing without an adjustable power supply.
//#define DEBUG
Outputs debugging information to the virtual serial port of the TivaBoard.
| Version | Due Date | Description |
|---|---|---|
| Milestone 1 | 26/03/2021 | Accepts an analogue input on AIN9, PE4 (J1-05) up to a maximum of 3.3 volts. The analogue input is regularly sampled and the samples are stored in a circular buffer that has its mean calculated regularly. The mean at the initiation of the program corresponds to an altitude of 0% and increases to 100% when the input reduces by 1 volt. The mean corresponding to 0% altitude can be changed to the current mean with the left button. The altitude can be displayed as a percentage, mean ADC value, or not displayed at all. This is toggled with the up button. |
| Milestone 2 | 07/05/2021 | Calculates yaw and displays to the OLED. Yaw is calculated by quadrature decoding of channel A and B inputs on PB0 (J1-03) and PB1 (J1-04) respectively. |
| Project Demo | 21/05/2021 | Pushing switch 1 to the on position sets the helirig to launching mode, where it begins to hover then finds a reference yaw. The reference yaw is indicated by a low signal on PC4 (J4-04). Then the helirig is set to flying mode where the user can control the altitude and yaw. The up and down buttons increase and decrease the altitude by 10%. The right and left buttons increase and decrease the yaw by 15 degrees. The helirig gets to these desired altitude and yaw values using a PI control system. When switch 1 is pushed back to the off position, the helirig returns to the reference yaw and softly lands. Switch 2 also acts as a reset switch. |