[{"id":"2b9fe60a-3add-42da-9a36-27cbfd04c7a5","type":"image","data":{"images":["https://storage.googleapis.com/copool-prod-bucket/34233a9a-8a35-4d56-8404-18dc3c1f4b4e-%EB%93%9C%EB%A1%A01.jpg","https://storage.googleapis.com/copool-prod-bucket/6856d215-53df-461a-8e12-e361b81a4e5f-%EB%93%9C%EB%A1%A02.jpg"]}},{"id":"57406a10-ed44-4558-b84d-be9254a0c4d2","type":"text","data":"드론을 제작하고 조종법을 익혔다.\n드론이 너무 가벼워 무게중심을 잡기 위해 마이쮸 2개와 종이컵을 이용해 무게중심을 잡았다.\n코드는 슬라이드 형식의 코드를 선택했고 저공비행에는 성공했다."},{"id":"a87de175-35ee-498d-8fda-506c94537d19","type":"code","data":{"code":"#include \n#include \n#include \n\nconst char* ssid = \"Drone_s\";\nconst char* password = \"myNameShy\";\n\nWebServer server(80);\n\n// MPU9250 주소\nconst int MPU9250_ADDR = 0x68;\n\n// 모터 제어 핀 설정\nconst int MOTOR_A = 23;\nconst int MOTOR_B = 19;\nconst int MOTOR_C = 18;\nconst int MOTOR_D = 26;\nconst int MOTOR_FREQ = 5000;\nconst int MOTOR_RESOLUTION = 10;\n\n// 드론 상태\nfloat throttle = 0;\nfloat pitch = 0;\nfloat roll = 0;\nfloat yaw = 0;\n\n// 센서 데이터\nfloat accelX, accelY, accelZ;\nfloat gyroX, gyroY, gyroZ;\n\nunsigned long lastSensorUpdate = 0;\nconst long sensorUpdateInterval = 50; // 50ms마다 센서 데이터 업데이트\n\nvoid setup() {\n Serial.begin(115200);\n \n // Wi-Fi AP 모드 설정\n WiFi.softAP(ssid, password);\n\n IPAddress IP = WiFi.softAPIP();\n Serial.print(\"AP IP address: \");\n Serial.println(IP);\n\n // I2C 초기화\n Wire.begin();\n \n // MPU9250 초기화\n initMPU9250();\n\n // 모터 핀 설정 (새로운 LEDC API 사용)\n ledcAttach(MOTOR_A, MOTOR_FREQ, MOTOR_RESOLUTION);\n ledcAttach(MOTOR_B, MOTOR_FREQ, MOTOR_RESOLUTION);\n ledcAttach(MOTOR_C, MOTOR_FREQ, MOTOR_RESOLUTION);\n ledcAttach(MOTOR_D, MOTOR_FREQ, MOTOR_RESOLUTION);\n\n // 웹 서버 라우트 설정\n server.on(\"/\", HTTP_GET, handleRoot);\n server.on(\"/update\", HTTP_GET, handleUpdate);\n server.on(\"/getSensorData\", HTTP_GET, handleGetSensorData);\n\n server.begin();\n Serial.println(\"HTTP server started\");\n}\n\nvoid initMPU9250() {\n Wire.beginTransmission(MPU9250_ADDR);\n Wire.write(0x6B); // PWR_MGMT_1 register\n Wire.write(0); // MPU9250 동작 시작\n Wire.endTransmission(true);\n\n Wire.beginTransmission(MPU9250_ADDR);\n Wire.write(0x1C); // ACCEL_CONFIG register\n Wire.write(0x00); // +-2g 범위 설정\n Wire.endTransmission(true);\n\n Wire.beginTransmission(MPU9250_ADDR);\n Wire.write(0x1B); // GYRO_CONFIG register\n Wire.write(0x00); // +-250 degrees/s 범위 설정\n Wire.endTransmission(true);\n\n Serial.println(\"MPU9250 initialized\");\n}\n\nvoid updateSensors() {\n Wire.beginTransmission(MPU9250_ADDR);\n Wire.write(0x3B); // 가속도계 데이터 시작 레지스터\n Wire.endTransmission(false);\n Wire.requestFrom(MPU9250_ADDR, 14, true); // 가속도계 + 온도 + 자이로스코프 데이터 요청\n \n int16_t accelerometer_x = Wire.read() << 8 | Wire.read();\n int16_t accelerometer_y = Wire.read() << 8 | Wire.read();\n int16_t accelerometer_z = Wire.read() << 8 | Wire.read();\n \n int16_t temperature = Wire.read() << 8 | Wire.read();\n \n int16_t gyro_x = Wire.read() << 8 | Wire.read();\n int16_t gyro_y = Wire.read() << 8 | Wire.read();\n int16_t gyro_z = Wire.read() << 8 | Wire.read();\n \n accelX = accelerometer_x / 16384.0;\n accelY = accelerometer_y / 16384.0;\n accelZ = accelerometer_z / 16384.0;\n \n gyroX = gyro_x / 131.0;\n gyroY = gyro_y / 131.0;\n gyroZ = gyro_z / 131.0;\n}\n\nvoid handleRoot() {\n WiFiClient client = server.client();\n \n client.println(\"HTTP/1.1 200 OK\");\n client.println(\"Content-type:text/html\");\n client.println(\"Connection: close\");\n client.println();\n \n client.println(\"\");\n client.println(\"\");\n client.println(\"\");\n client.println(\"\");\n client.println(\"\");\n client.println(\"드론 제어 패널\");\n client.println(\"\");\n client.println(\"\");\n client.println(\"\");\n client.println(\"

\");\n client.println(\"

드론 제어 패널

\");\n client.println(\"

\");\n client.println(\"\");\n client.println(\"0\");\n client.println(\"

\");\n client.println(\"Throttle\");\n client.println(\"

\");\n client.println(\"

\");\n client.println(\"\");\n client.println(\"0\");\n client.println(\"

\");\n client.println(\"Pitch\");\n client.println(\"

\");\n client.println(\"

\");\n client.println(\"\");\n client.println(\"0\");\n client.println(\"

\");\n client.println(\"Roll\");\n client.println(\"

\");\n client.println(\"

\");\n client.println(\"\");\n client.println(\"0\");\n client.println(\"

\");\n client.println(\"Yaw\");\n client.println(\"

\");\n client.println(\"

센서 데이터

\");\n client.println(\"

가속도 (g) - X: 0, Y: 0, Z: 0

\");\n client.println(\"

자이로 (deg/s) - X: 0, Y: 0, Z: 0

\");\n client.println(\"

\");\n client.println(\"\");\n client.println(\"\");\n client.println(\"\");\n}\n\nvoid handleUpdate() {\n if (server.hasArg(\"throttle\")) throttle = server.arg(\"throttle\").toFloat();\n if (server.hasArg(\"pitch\")) pitch = server.arg(\"pitch\").toFloat();\n if (server.hasArg(\"roll\")) roll = server.arg(\"roll\").toFloat();\n if (server.hasArg(\"yaw\")) yaw = server.arg(\"yaw\").toFloat();\n \n server.send(200, \"text/plain\", \"Updated\");\n}\n\nvoid handleGetSensorData() {\n String json = \"{\";\n json += \"\\\"accelX\\\":\" + String(accelX, 2) + \",\";\n json += \"\\\"accelY\\\":\" + String(accelY, 2) + \",\";\n json += \"\\\"accelZ\\\":\" + String(accelZ, 2) + \",\";\n json += \"\\\"gyroX\\\":\" + String(gyroX, 2) + \",\";\n json += \"\\\"gyroY\\\":\" + String(gyroY, 2) + \",\";\n json += \"\\\"gyroZ\\\":\" + String(gyroZ, 2);\n json += \"}\";\n \n server.send(200, \"application/json\", json);\n}\n\nvoid controlMotors() {\n int m1 = constrain(throttle + pitch + roll - yaw, 0, 1023);\n int m2 = constrain(throttle + pitch - roll + yaw, 0, 1023);\n int m3 = constrain(throttle - pitch - roll - yaw, 0, 1023);\n int m4 = constrain(throttle - pitch + roll + yaw, 0, 1023);\n\n ledcWrite(MOTOR_A, m1);\n ledcWrite(MOTOR_B, m2);\n ledcWrite(MOTOR_C, m3);\n ledcWrite(MOTOR_D, m4);\n\n // 디버깅을 위한 모터 값 출력\n Serial.printf(\"Motor values: %d, %d, %d, %d\\n\", m1, m2, m3, m4);\n}\n\nvoid loop() {\n server.handleClient();\n \n unsigned long currentMillis = millis();\n if (currentMillis - lastSensorUpdate >= sensorUpdateInterval) {\n updateSensors();\n controlMotors();\n lastSensorUpdate = currentMillis;\n }\n}","language":"etc"}}]

코풀 커뮤니티

드론 수업 활동보고서_서희영