Fabio Bobrow
Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
Diff: Mixer/Mixer.cpp
- Revision:
- 23:4905fbc2b31a
- Parent:
- 22:5f2323e30cdc
- Child:
- 24:7b9e3beb61d5
--- a/Mixer/Mixer.cpp Thu Oct 25 12:41:50 2018 +0000
+++ b/Mixer/Mixer.cpp Wed Oct 31 13:21:09 2018 +0000
@@ -1,7 +1,7 @@
#include "mbed.h"
#include "Mixer.h"
-/*// Class constructor
+// Class constructor
Mixer::Mixer() : motor_1(PA_1), motor_2(PB_11), motor_3(PA_15), motor_4(PB_9_ALT1), led_1_red(PC_3), led_1_green(PC_2), led_4_red(PC_0), led_4_green(PC_1)
{
led_1_red = 1;
@@ -12,7 +12,7 @@
motor_2 = 0.0f;
motor_3 = 0.0f;
motor_4 = 0.0f;
-}*/
+}
// Actuate motors with desired total trust force (N) and torques (N.m)
void Mixer::actuate(float f_t, float tau_phi, float tau_theta, float tau_psi)