Diff: guardian.cpp

Revision:

12:7eeb29892625

Parent:

7:e005cfaff8d1

--- a/guardian.cpp	Fri Jan 31 19:36:28 2014 +0000
+++ b/guardian.cpp	Sat Feb 01 00:03:40 2014 +0000
@@ -1,43 +1,29 @@
 #include "guardian.h"
 
-Guardian::Guardian(PinName ailpin, PinName modpin, PinName elvpin, PinName rudpin, PinName auxpin, PinName gainpin)
+Guardian::Guardian(PinName modpin, PinName gainpin)
+:mod(modpin),
+gain(gainpin)
 {
-    ail=new Servo(ailpin);
-    mod=new Servo(modpin);
-    elv=new Servo(elvpin);
-    /*rud=new Servo(rudpin);
-    aux=new Servo(auxpin);
-    */
-    gain=new Servo(gainpin);
-    mod->write(0.5); //set autopilot to off
-    ail->write(0.5);
-    elv->write(0.5);
-    /*rud->write(0.5);
-    aux->write(0.00);
-    */
-    gain->write(1.00);
-}
 
-Guardian::~Guardian()
-{
-    delete ail, mod, elv, rud, aux, gain;
+    mod.write(0.5); //set autopilot to off
+    gain.write(1.00);
 }
 
 void Guardian::set3D() //set autopilot to 3D
 {
-    mod->write(1.00);
+    mod.write(1.00);
     return;
 }
 
 void Guardian::set2D() //set autopilot 2D
 {
-    mod->write(0.00);
+    mod.write(0.00);
     return;
 }
 
 void Guardian::setoff()
 {
-    mod->write(0.5);
+    mod.write(0.5);
     return;
 }
 
@@ -53,32 +39,14 @@
     return;
 }
 
-void Guardian::setail(float val)
-{
-    ail->write(val);
-    return;
-}
-
 void Guardian::setmod(float val)
 {
-    mod->write(val);
+    mod.write(val);
     return;
 }
 
-void Guardian::setelv(float val)
-{
-    elv->write(val);
-    return;
-}
-
-void Guardian::setrud(float val)
+void Guardian::setgain(float val)
 {
-    rud->write(val);
-    return;
-}
-
-void Guardian::setaux(float val)
-{
-    aux->write(val);
+    gain.write(val);
     return;
 }
\ No newline at end of file