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Diff: Force_to_wing_angle.cpp
- Revision:
- 1:3d46a0660d05
- Parent:
- 0:3fbb3fa4ff64
--- a/Force_to_wing_angle.cpp Fri Apr 12 06:58:18 2019 +0000 +++ b/Force_to_wing_angle.cpp Fri Apr 12 09:55:53 2019 +0000 @@ -10,7 +10,7 @@ #include <iostream> #include <cmath> #include "math.h" -Serial pc(USBTX,USBRX); + control::ForceToWingAngle::ForceToWingAngle(){ } @@ -21,7 +21,7 @@ } void control::ForceToWingAngle::MMA() { - pc.baud(115200); + /* First we will start with the MMA. This is the motor mixing algorithm that * divides the incoming forces from the 3 PID controllers in 3 different * forces that the wings should deliver. The MMA consists of a matrix, that @@ -97,7 +97,6 @@ output.Wing_left = left_angle_total - input2.Real_pitch + kZeroLiftAngle; output.Wing_right = right_angle_total - input2.Real_pitch + kZeroLiftAngle; output.Wing_back = back_angle_total - input2.Real_pitch + kZeroLiftAngle; - pc.printf("%f,%f,%f,\n", output.Wing_left,output.Wing_right,output.Wing_back); m_FtoW_data->PutWingData(&output); return ;