Diff: Mixer/Mixer.cpp

Revision:

24:7b9e3beb61d5

Parent:

23:4905fbc2b31a

--- a/Mixer/Mixer.cpp	Wed Oct 31 13:21:09 2018 +0000
+++ b/Mixer/Mixer.cpp	Thu Dec 06 16:44:40 2018 +0000
@@ -4,6 +4,56 @@
 // 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)
 {
+    armed = false;
+    led_1_red = 1;
+    led_1_green = 0;
+    led_4_red = 1;
+    led_4_green = 0;
+    motor_1.period(period_pwm);
+    motor_2.period(period_pwm);
+    motor_3.period(period_pwm);
+    motor_4.period(period_pwm);
+    motor_1 = 0.0f;
+    motor_2 = 0.0f;
+    motor_3 = 0.0f;
+    motor_4 = 0.0f;
+}
+
+void Mixer::arm()
+{
+    led_1_red = 0;
+    led_1_green = 1;
+    led_4_red = 0;
+    led_4_green = 1;
+    motor_1.period(1.0/440.0);
+    motor_1 = 0.2f;
+    wait(motor_test_on_time);
+    motor_1.period(period_pwm);
+    motor_1 = 0.0f;
+    wait(motor_test_off_time);
+    motor_2.period(1.0/880.0);
+    motor_2 = 0.2f;
+    wait(motor_test_on_time);
+    motor_2.period(period_pwm);
+    motor_2 = 0.0f;
+    wait(motor_test_off_time);
+    motor_3.period(1.0/660.0);
+    motor_3 = 0.2f;
+    wait(motor_test_on_time);
+    motor_3.period(period_pwm);
+    motor_3 = 0.0f;
+    wait(motor_test_off_time);
+    motor_4.period(1.0/550.0);
+    motor_4 = 0.2f;
+    wait(motor_test_on_time);
+    motor_4.period(period_pwm);
+    motor_4 = 0.0f;
+    wait(motor_test_off_time);
+    armed = true;
+}
+
+void Mixer::disarm()
+{
     led_1_red = 1;
     led_1_green = 0;
     led_4_red = 1;
@@ -12,29 +62,19 @@
     motor_2 = 0.0f;
     motor_3 = 0.0f;
     motor_4 = 0.0f;
+    armed = false;
 }
 
 // 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)
 {
-    force_and_torques_to_angular_velocities(f_t,tau_phi,tau_theta,tau_psi);
-    motor_1 = angular_velocity_to_pwm(omega_1);
-    motor_2 = angular_velocity_to_pwm(omega_2);
-    motor_3 = angular_velocity_to_pwm(omega_3);
-    motor_4 = angular_velocity_to_pwm(omega_4);
-    if ((omega_1 == 0) & (omega_2 == 0) & (omega_3 == 0) & (omega_4 == 0))
+    if(armed)
     {
-        led_1_red = 1;
-        led_1_green = 0;
-        led_4_red = 1;
-        led_4_green = 0;
-    }
-    else
-    {
-        led_1_red = 0;
-        led_1_green = 1;
-        led_4_red = 0;
-        led_4_green = 1;
+        force_and_torques_to_angular_velocities(f_t,tau_phi,tau_theta,tau_psi);
+        motor_1 = angular_velocity_to_pwm(omega_1);
+        motor_2 = angular_velocity_to_pwm(omega_2);
+        motor_3 = angular_velocity_to_pwm(omega_3);
+        motor_4 = angular_velocity_to_pwm(omega_4);
     }
 }