Rodrigo Gikas / CrazyflieController

Crazyflie 2.0 Controller

Dependents:   Drone_Controlador_Atitude

Mixer/Mixer.h@2:9e07bed8e8ed, 2018-11-21 (annotated)

Committer:
IgneousGuikas
Date:
Wed Nov 21 10:46:29 2018 +0000
Revision:
2:9e07bed8e8ed
Parent:
1:2abfa02e99d5 
Teste;

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 1:2abfa02e99d5 5 #include "Parameters.h"
IgneousGuikas 0:332926683ee3 6
IgneousGuikas 0:332926683ee3 7 class Mixer
IgneousGuikas 0:332926683ee3 8 {
IgneousGuikas 0:332926683ee3 9 public:
IgneousGuikas 0:332926683ee3 10 // Class constructor
IgneousGuikas 0:332926683ee3 11 Mixer();
IgneousGuikas 0:332926683ee3 12 // Actuate motors with the desired force (N) and torques (N.m)
IgneousGuikas 0:332926683ee3 13 void actuate( float ft , float tau_phi , float tau_theta , float tau_psi );
IgneousGuikas 0:332926683ee3 14 private:
IgneousGuikas 0:332926683ee3 15 // Motors PWM outputs
IgneousGuikas 0:332926683ee3 16 PwmOut motor0, motor1, motor2, motor3;
IgneousGuikas 0:332926683ee3 17 // Angular velocities ( rad /s)
IgneousGuikas 0:332926683ee3 18 float omega0, omega1, omega2, omega3;
IgneousGuikas 0:332926683ee3 19 // Converts desired force (N) and torques (N.m) to angular velocities ( rad/s)
IgneousGuikas 0:332926683ee3 20 void ft_to_omega( float ft, float tau_phi, float tau_theta, float tau_psi );
IgneousGuikas 0:332926683ee3 21 // Converts desired angular velocity (rad/s) to PWM signal
IgneousGuikas 0:332926683ee3 22 float omega_to_pwm( float omega );
IgneousGuikas 0:332926683ee3 23 };
IgneousGuikas 0:332926683ee3 24
IgneousGuikas 0:332926683ee3 25 #endif