Page 11 - Build Your Own Quadcopter_ Power Up Your Designs with the Parallax Elev-8

x C o nt e nt s

Configure Your Transmitter ............................. 54
Programming the Electronic Speed Controllers ............ 56
Connect the Motors and Synchronize the ESCs ................... 57
Chassis Top-Plate and Control-Board Assemblies ........... 59
Mount the Control-Board Assembly
onto the Chassis ..................................... 62
Control-Board Connections ............................. 63
Mounting the Propeller Blades ........................... 64
Mounting the Battery ................................... 65
A Few More Comments ....................................... 67
4 Programming the Parallax Propeller Chip . . . . . . . . . . . . . . . . . . . . . . 69
Introduction ................................................. 69
Prop Architecture ............................................ 69
Prop Software ............................................... 73
Spin Language ........................................ 73
Propeller Spin Tool ........................................... 73
Porting to the Propeller QuickStart Board ....................... 80
Clock Timing ................................................ 82
RC Oscillator Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Crystal Oscillator Operations ............................ 84
Reducing Dependence on Absolute
Clock-Cycle Times ................................... 84
Pulse-Width Modulation and Servo Example .................... 88
Summary ................................................... 94
5 Quadcopter Propulsors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Introduction ................................................. 95
Motors ..................................................... 95
Electronic Speed Controller ................................... 100
ESC Waveforms ....................................... 104
Propeller, Motor, and ESC Experiment .......................... 105
Running the Experiment ................................ 108
Experimental Results ................................... 110
Battery Eliminator Circuit ..................................... 113
Propellers ................................................... 114
Comprehensive Quadcopter Analysis ........................... 116
ESC_Motor_Control_Demo Analysis ..................... 117
A Brief Introduction to the C Language ......................... 125
Summary ................................................... 127

6 Radio-Controlled Systems and Telemetry . . . . . . . . . . . . . . . . . . . . . . 129
Introduction ................................................. 129
Evolution of Model R/C Systems .............................. 129
Carriers and Modulation ...................................... 129
Noise ................................................. 131