diagram

docs/Assignments/week_10_output_devices/output_devices.md

@@ -71,6 +71,65 @@ During that time I used this code
         ```
 It has an automatic arming sequence when the MCU starts with the esc and motor. But there is one small problem. I couldn't get the motor armed using this script even though I set the escpin to the correct pin. After inspecting the code a bit more I realized that escpin wasn't used anywhere and ledcChannel was the actual pin where the PWM signal would get generated. After I changed ledcChannel to the correct pin the motor armed and I could start if by sending the MCU "1".
 
+??? Correct code
+        ```cpp
+        const int potPin = 4;
+        // LEDC channel and timer configuration
+        const int ledcChannel = D2;
+        const int ledcTimer = 0;
+        const int pwmFreq = 50;        // 50Hz frequency (20ms period)
+        const int pwmResolution = 16;  // 16-bit resolution
+
+        // Pulse widths (in microseconds) for min and max throttle
+        const int minPulseWidth = 1200;  // 1ms for min throttle
+        const int maxPulseWidth = 1940;  // 2ms for max throttle
+
+        int incomingByte = 0;
+
+        // Function to convert pulse width to LEDC duty cycle
+        int pulseWidthToDutyCycle(int pulseWidth) {
+        int maxDuty = (1 << pwmResolution) - 1;
+        return (pulseWidth * maxDuty) / 20000;  // Convert to 16-bit duty cycle
+        }
+
+        void setup() {
+        Serial.begin(115200);
+        // Set up the PWM signal on the escPin
+        ledcAttach(ledcChannel, pwmFreq, pwmResolution);
+
+        // Start the ESC calibration sequence
+        Serial.println("Starting ESC...");
+
+        // Step 2: Send minimum throttle (1ms pulse width)
+        Serial.println("Setting min throttle...");
+        ledcWrite(ledcChannel, pulseWidthToDutyCycle(minPulseWidth));
+
+        // At this point, the ESC should be calibrated
+        Serial.println("ESC calibration complete.");
+        delay(2000);
+        }
+
+        void loop() {
+
+        if (Serial.available() > 0) {
+            // read the incoming byte:
+            incomingByte = Serial.read();
+        }
+        //min 1100, max 1940
+        if (incomingByte == 48) {
+            ledcWrite(ledcChannel, pulseWidthToDutyCycle(1100));
+            Serial.println("low");
+        } else if (incomingByte == 49) {
+            ledcWrite(ledcChannel, pulseWidthToDutyCycle(1940));
+            Serial.println("high");
+        }
+
+        // Reset incomingByte after processing
+
+        // Small delay to allow for serial input processing
+        }
+        ```
+
 <video controls src="PXL_20250327_140301518(1)(1)(1).mp4" title="Title"></video>
 
 In the loop section of the code is a method where it accepts serial communication back. Byte 49 represents ascii character 1 and byte 48 represents 0.
@@ -102,3 +161,7 @@ Here you can see it hit the maximum of the power supply (60watts). If it goes an
 Here are the files to build the PSU yourself. I don't recommend building it without making a top lid. Otherwise you will have a very hard time assembling it.
 Link to PSU: https://git.smikkelbakje.nl/Smikkelbakje/Labvoeding
 
+
+## Power
+Right now I'm facing the issue of powering the motors. My power supply can't handle the current draw from my motors. So I needed something that could output a lot of power while staying stable. That's where li-po batteries luckily come in. I have a bit of experience with handling them. The maximum amount of voltage I can put on my motors is 6S but the Electronic speed controllers can only go up to 4S. So that's what I'm going for. For now I will keep trying to test with my current power supply.
+

docs/final_project/drone_stabilisation.md

@@ -1,16 +0,0 @@
-# How to keep a drone upright
-
-
-using accelerometers always try to keep them at 0
-except if you press a button then the desired pitch changes.
-
-
-
-
-https://www.reddit.com/r/diydrones/comments/1cm8ykx/how_is_stable_flight_possible/
-
-https://github.com/lobodol/drone-flight-controller
-https://github.com/liourej/CodeDroneDIY
-https://electronoobs.com/eng_robotica_tut9_2_2.php
-
-https://www.youtube.com/watch?v=4vpgjjYizVU

docs/final_project/final_project.md

@@ -125,6 +125,53 @@ This is the result of the board.
 
 ![alt text](image-6.jpg)
 
+After some weeks I changed the design to this. Because I noticed the esp-C3 doesn't have enough analog pins for my joysticks so I asked Henk if I could use one of their esp-S3's because it had a lot more analog pins.
+![alt text](image-9.png)
+ESP S3
+![alt text](image-10.png)
+ESP C3
+![alt text](image-8.png)
+New design
+This new design also saves a lot on material because the legs don't have to be cut out so I can almost make twice as many boards with the same material.
+![alt text](image-11.png)
+
+I've also send this board to JLCPCB for FR04 fabrication. Because I had issues where my FR-1 copper would just let got when moving the joysticks around. I wanted the controller to be super reliable and durable so that's why I ordered them from JLCPCB
+
+## Programming 
+For the drone I will be using the [dRehmFlight VTOL program](https://github.com/nickrehm/dRehmFlight). In the [programming week](../Assignments/week_4_programming/programming.md) I already modified it to support the BNO085 and made the bridge between my handheld controller and the flight controller using ESPNow. For further support I still had some bugs to squash and some other features to implement for compatibility with my system.
+
+```mermaid
+classDiagram
+namespace Drone {
+    class ESPC6 Thread 1{
+        +Control Motors
+        +keep drone in the air
+        +Receive communication from controller
+        Flightcontroller()
+    }
+    class MatrixControllerThread2 {
+
+    }
+
+}
+
+namespace Controller {
+    class ESPC3 {
+        +Read joystick data
+        +Clean joystick data
+        +Send joystick data to the drone
+        Handheld Controller()
+    }
+}
+
+ESPC3 --> ESPC6 Thread 1 : Send data to flight controller using ESPNOW
+```
+
+I've already gotten the motors to spin in week 10
+
+
+
+
 
 
 ## BOM (bill of materials)

src/controller/drone controller/src/main.cpp

@@ -6,6 +6,7 @@
 int normalizePot(int pin, int minValue);
 int mapPot(int normalizedValue);
 int analogReadMultiPlexer(int addressA, int addressB, int addressC, int addressD, int pin);
+void espNow();
 
 const int MAXPWMVALUE = 1000;
 const int MINPWMVALUE = 2000;
@@ -25,28 +26,7 @@ esp_now_peer_info_t peerInfo; // create a class object of the ESPNow class
 
 void setup()
 {
-  // Set device as a Wi-Fi Station
-  WiFi.mode(WIFI_STA);
-
-  // Init ESP-NOW
-  if (esp_now_init() != ESP_OK)
-  {
-    Serial.println("Error initializing ESP-NOW");
-    return;
-  }
-
-  // Register peer
-  memcpy(peerInfo.peer_addr, broadcastAddress, 6);
-  peerInfo.channel = 0;
-  peerInfo.encrypt = false;
-
-  // Add peer
-  if (esp_now_add_peer(&peerInfo) != ESP_OK)
-  {
-    Serial.println("Failed to add peer");
-    return;
-  }
-
+  espNow();
   Serial.begin(9600);
 
   pinMode(D3, OUTPUT);
@@ -60,11 +40,13 @@ void setup()
 
 void loop()
 {
-  Serial.println(analogReadMultiPlexer(0, 0, 0, 0, A0)); // call normalizePot and put the output into mapPot then print it
+  Serial.print("X:" + String(myData.PWMCH2));
+  Serial.println(" Y:" + String(myData.PWMCH1));
+
 
   // Set values to send
   myData.PWMCH1 = mapPot(analogReadMultiPlexer(0, 0, 0, 0, A0));
-  myData.PWMCH2 = 1000; // test values
+  myData.PWMCH2 = mapPot(analogReadMultiPlexer(1, 0, 0, 0, A0)); // test values
   myData.PWMCH3 = 1000;
   myData.PWMCH4 = 1000;
 
@@ -78,7 +60,7 @@ void loop()
   {
     // Serial.println("Error sending the data");
   }
-  delay(10);
+  delay(10); //delay to avoid hammering the radio and to save power/heat
 }
 
 int mapPot(int normalizedValue)
@@ -103,9 +85,28 @@ int normalizePot(int pin, int minValue) // normalize the pot value to a range of
 int analogReadMultiPlexer(int addressA, int addressB, int addressC, int addressD, int pin)
 {
   digitalWrite(D3, LOW);
-  digitalWrite(D6, LOW);
-  digitalWrite(D7, LOW);
-  digitalWrite(D9, LOW);
-  digitalWrite(D8, LOW);
+  digitalWrite(D6, addressA);
+  digitalWrite(D7, addressB);
+  digitalWrite(D9, addressC);
+  digitalWrite(D8, addressD);
   return analogRead(pin);
-}
+}
+
+void espNow(){  // Set device as a Wi-Fi Station
+  WiFi.mode(WIFI_STA);
+  // Init ESP-NOW
+  if (esp_now_init() != ESP_OK)
+  {
+    Serial.println("Error initializing ESP-NOW");
+    return;
+  }
+  // Register peer
+  memcpy(peerInfo.peer_addr, broadcastAddress, 6);
+  peerInfo.channel = 0;
+  peerInfo.encrypt = false;
+  // Add peer
+  if (esp_now_add_peer(&peerInfo) != ESP_OK)
+  {
+    Serial.println("Failed to add peer");
+    return;
+  }}

src/drone/src/main.cpp

@@ -279,7 +279,6 @@ bool sbusLostFrame;
 DSM1024 DSM;
 #endif
 #if defined USE_ESPNow
-// Structure example to receive data
 // Must match the sender structure
 typedef struct struct_message
 {
@@ -288,9 +287,7 @@ typedef struct struct_message
   int PWMCH3 = 1500;
   int PWMCH4 = 1500;
 } struct_message;
-
-// Create a struct_message called myData
-struct_message myData;
+struct_message myData; //Initialise struct as myData
 #endif
 
 // IMU:
@@ -1332,6 +1329,7 @@ void controlRATE()
 
 void scaleCommands()
 {
+  //TODO: Rewrite this mess with LEDC and use internal ESP pwm clocks
   // DESCRIPTION: Scale normalized actuator commands to values for ESC/Servo protocol
   /*
    * mX_command_scaled variables from the mixer function are scaled to 125-250us for OneShot125 protocol. sX_command_scaled variables from