Rodrigo Gikas / CrazyflieController

Crazyflie 2.0 Controller

Dependents:   Drone_Controlador_Atitude

Mixer/Mixer.h@0:332926683ee3, 2018-10-08 (annotated)

Committer:
IgneousGuikas
Date:
Mon Oct 08 11:07:14 2018 +0000
Revision:
0:332926683ee3
Child:
1:2abfa02e99d5
First version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IgneousGuikas 0:332926683ee3 1 #ifndef Mixer_h
IgneousGuikas 0:332926683ee3 2 #define Mixer_h
IgneousGuikas 0:332926683ee3 3
IgneousGuikas 0:332926683ee3 4 #include "mbed.h"
IgneousGuikas 0:332926683ee3 5
IgneousGuikas 0:332926683ee3 6 const float alpha = 1.145f*pow(10.0f,-7);
IgneousGuikas 0:332926683ee3 7 const float beta = 1.001f*pow(10.0f,-9);
IgneousGuikas 0:332926683ee3 8 const float kl = 2.1f*pow(10.0f,-8);
IgneousGuikas 0:332926683ee3 9 const float kd = 1.52f*pow(10.0f,-10);
IgneousGuikas 0:332926683ee3 10 const float l = 33.0f*pow(10.0f,-3);
IgneousGuikas 0:332926683ee3 11
IgneousGuikas 0:332926683ee3 12 class Mixer
IgneousGuikas 0:332926683ee3 13 {
IgneousGuikas 0:332926683ee3 14 public:
IgneousGuikas 0:332926683ee3 15 // Class constructor
IgneousGuikas 0:332926683ee3 16 Mixer();
IgneousGuikas 0:332926683ee3 17 // Actuate motors with the desired force (N) and torques (N.m)
IgneousGuikas 0:332926683ee3 18 void actuate( float ft , float tau_phi , float tau_theta , float tau_psi );
IgneousGuikas 0:332926683ee3 19 private:
IgneousGuikas 0:332926683ee3 20 // Motors PWM outputs
IgneousGuikas 0:332926683ee3 21 PwmOut motor0, motor1, motor2, motor3;
IgneousGuikas 0:332926683ee3 22 // Angular velocities ( rad /s)
IgneousGuikas 0:332926683ee3 23 float omega0, omega1, omega2, omega3;
IgneousGuikas 0:332926683ee3 24 // Converts desired force (N) and torques (N.m) to angular velocities ( rad/s)
IgneousGuikas 0:332926683ee3 25 void ft_to_omega( float ft, float tau_phi, float tau_theta, float tau_psi );
IgneousGuikas 0:332926683ee3 26 // Converts desired angular velocity (rad/s) to PWM signal
IgneousGuikas 0:332926683ee3 27 float omega_to_pwm( float omega );
IgneousGuikas 0:332926683ee3 28 };
IgneousGuikas 0:332926683ee3 29
IgneousGuikas 0:332926683ee3 30 #endif