Fabio Bobrow / CrazyflieController

Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer

Mixer/Mixer.cpp@5:b9947e3d20cf, 2018-09-27 (annotated)

Committer:
fbob
Date:
Thu Sep 27 13:51:54 2018 +0000
Revision:
5:b9947e3d20cf
Parent:
0:b1f2c9e88e32
Child:
6:3188b00263e8
Included parameters.h;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fbob 0:b1f2c9e88e32 1 #include "mbed.h"
fbob 0:b1f2c9e88e32 2 #include "Mixer.h"
fbob 0:b1f2c9e88e32 3
fbob 0:b1f2c9e88e32 4 // Class constructor
fbob 0:b1f2c9e88e32 5 Mixer::Mixer() : motor_1(PA_1), motor_2(PB_11), motor_3(PA_15), motor_4(PB_9_ALT1)
fbob 0:b1f2c9e88e32 6 {
fbob 0:b1f2c9e88e32 7 }
fbob 0:b1f2c9e88e32 8
fbob 5:b9947e3d20cf 9 // Actuate motors with desired total trust force (N) and torques (N.m)
fbob 0:b1f2c9e88e32 10 void Mixer::actuate(float f_t, float tau_phi, float tau_theta, float tau_psi)
fbob 0:b1f2c9e88e32 11 {
fbob 0:b1f2c9e88e32 12 force_and_torques_to_angular_velocities(f_t,tau_phi,tau_theta,tau_psi);
fbob 0:b1f2c9e88e32 13 motor_1 = angular_velocity_to_pwm(omega_1);
fbob 0:b1f2c9e88e32 14 motor_2 = angular_velocity_to_pwm(omega_2);
fbob 0:b1f2c9e88e32 15 motor_3 = angular_velocity_to_pwm(omega_3);
fbob 0:b1f2c9e88e32 16 motor_4 = angular_velocity_to_pwm(omega_4);
fbob 0:b1f2c9e88e32 17 }
fbob 0:b1f2c9e88e32 18
fbob 5:b9947e3d20cf 19 // Converts total trust force (N) and torques (N.m) to angular velocities (rad/s)
fbob 0:b1f2c9e88e32 20 void Mixer::force_and_torques_to_angular_velocities(float f_t, float tau_phi, float tau_theta, float tau_psi)
fbob 0:b1f2c9e88e32 21 {
fbob 0:b1f2c9e88e32 22 float omega_1_squared = (1.0f/4.0f)*(f_t/kl-tau_phi/(kl*l)-tau_theta/(kl*l)-tau_psi/kd);
fbob 0:b1f2c9e88e32 23 float omega_2_squared = (1.0f/4.0f)*(f_t/kl-tau_phi/(kl*l)+tau_theta/(kl*l)+tau_psi/kd);
fbob 0:b1f2c9e88e32 24 float omega_3_squared = (1.0f/4.0f)*(f_t/kl+tau_phi/(kl*l)+tau_theta/(kl*l)-tau_psi/kd);
fbob 0:b1f2c9e88e32 25 float omega_4_squared = (1.0f/4.0f)*(f_t/kl+tau_phi/(kl*l)-tau_theta/(kl*l)+tau_psi/kd);
fbob 0:b1f2c9e88e32 26 if(omega_1_squared>=0) {
fbob 0:b1f2c9e88e32 27 omega_1 = sqrt(omega_1_squared);
fbob 0:b1f2c9e88e32 28 } else {
fbob 0:b1f2c9e88e32 29 omega_1 = 0.0f;
fbob 0:b1f2c9e88e32 30 }
fbob 0:b1f2c9e88e32 31 if(omega_2_squared>=0) {
fbob 0:b1f2c9e88e32 32 omega_2 = sqrt(omega_2_squared);
fbob 0:b1f2c9e88e32 33 } else {
fbob 0:b1f2c9e88e32 34 omega_2 = 0.0f;
fbob 0:b1f2c9e88e32 35 }
fbob 0:b1f2c9e88e32 36 if(omega_3_squared>=0) {
fbob 0:b1f2c9e88e32 37 omega_3 = sqrt(omega_3_squared);
fbob 0:b1f2c9e88e32 38 } else {
fbob 0:b1f2c9e88e32 39 omega_3 = 0.0f;
fbob 0:b1f2c9e88e32 40 }
fbob 0:b1f2c9e88e32 41 if(omega_4_squared>=0) {
fbob 0:b1f2c9e88e32 42 omega_4 = sqrt(omega_4_squared);
fbob 0:b1f2c9e88e32 43 } else {
fbob 0:b1f2c9e88e32 44 omega_4 = 0.0f;
fbob 0:b1f2c9e88e32 45 }
fbob 0:b1f2c9e88e32 46 }
fbob 0:b1f2c9e88e32 47
fbob 5:b9947e3d20cf 48 // Converts desired angular velocity (rad/s) to PWM signal (%)
fbob 0:b1f2c9e88e32 49 float Mixer::angular_velocity_to_pwm(float omega)
fbob 0:b1f2c9e88e32 50 {
fbob 0:b1f2c9e88e32 51 float pwm = alpha*pow(omega,2)+beta*omega;
fbob 0:b1f2c9e88e32 52 return pwm;
fbob 0:b1f2c9e88e32 53 }