File content as of revision 2:040b8c8f4f92:

#ifndef MBED_MAINCONTROLLER_H
#define MBED_MAINCONTROLLER_H
 
#include "mbed.h"
#include "PwmIn.h"
#include "esc.h"

#define MATH_PI 3.14159265359
#define TOFF 0.03
class MainController {
public:
    /** Create a MainController
     *
     * @param 
     */ 
    MainController() ;
    
    /** Start the main controller
     * @returns 
     */
    void start();
    float getDutyCycle();
    float getFrequency();
    float getAmplitude();
    float getYaw();
    float getPitch();
    float getTimeAdd();
    float getAdj();

    /** Stop the main controller
     * @returns 
     */
    void stop();
    
protected:        
    void control();
    float calculateFrequency();
    float calculateAmplitude();
    float calculateYaw();
    float calculatePitch();
    //float calculateAdj();
    float signum(float input);
    float saturate(float input);
    
private:
    PwmIn ch1; //yaw
    PwmIn ch2; //pitch
    PwmIn ch3; //amp
    PwmIn ch6; //freq
    ESC esc1;
    //Servo leftservo;
    //Servo rightservo;
    
    Timer timer1;
    Ticker ticker1;
    float amp;
    float ampNew;
    float frq;
    float dutyCycle;
    float curTime;
    float frqMin;
    float frqMax;
    float yaw;
    float pitch;
    float alPi;
    //float adj;  
    bool fullCycle;
    float frqCmd;
    float raiser;
    
    float throttle_var;
};
 
#endif