Diff: Mixer/Mixer.cpp

Revision:

5:b9947e3d20cf

Parent:

0:b1f2c9e88e32

Child:

6:3188b00263e8

--- a/Mixer/Mixer.cpp	Wed Sep 26 21:47:37 2018 +0000
+++ b/Mixer/Mixer.cpp	Thu Sep 27 13:51:54 2018 +0000
@@ -2,32 +2,27 @@
 #include "Mixer.h"
 
 // Class constructor
-//Mixer::Mixer(PinName pin_1, PinName pin_2, PinName pin_3, PinName pin_4) : motor_1(pin_1) , motor_2(pin_2) , motor_3(pin_3) , motor_4(pin_4)
 Mixer::Mixer() : motor_1(PA_1), motor_2(PB_11), motor_3(PA_15), motor_4(PB_9_ALT1)
 {
 }
 
-// Actuate motors with the desired force (N) and torques (N.m)
+// 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)
 {
-    // Convert desired force (N) and torques (N.m) to angular velocities (rad/s)
     force_and_torques_to_angular_velocities(f_t,tau_phi,tau_theta,tau_psi);
-    // Convert desired angular velocity (rad/s) to PWM signal and actuate motors
     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);
 }
 
-// Converts desired force (N) and torques (N.m) to angular velocities (rad/s)
+// Converts total trust force (N) and torques (N.m) to angular velocities (rad/s)
 void Mixer::force_and_torques_to_angular_velocities(float f_t, float tau_phi, float tau_theta, float tau_psi)
 {
-    // Convert desired force (N) and torques (N.m) to angular velocities squared (rad^2/s^2)
     float omega_1_squared = (1.0f/4.0f)*(f_t/kl-tau_phi/(kl*l)-tau_theta/(kl*l)-tau_psi/kd);
     float omega_2_squared = (1.0f/4.0f)*(f_t/kl-tau_phi/(kl*l)+tau_theta/(kl*l)+tau_psi/kd);
     float omega_3_squared = (1.0f/4.0f)*(f_t/kl+tau_phi/(kl*l)+tau_theta/(kl*l)-tau_psi/kd);
     float omega_4_squared = (1.0f/4.0f)*(f_t/kl+tau_phi/(kl*l)-tau_theta/(kl*l)+tau_psi/kd);
-    // Convert angular velocities squared (rad^2/s^2) to angular velocities (rad/s) only if value is positive
     if(omega_1_squared>=0) {
         omega_1 = sqrt(omega_1_squared);
     } else {
@@ -50,10 +45,9 @@
     }
 }
 
-// Converts desired angular velocity (rad/s) to PWM signal
+// Converts desired angular velocity (rad/s) to PWM signal (%)
 float Mixer::angular_velocity_to_pwm(float omega)
 {
-    // Convert desired angular velocity (rad/s) to PWM signal
     float pwm = alpha*pow(omega,2)+beta*omega;
     return pwm;
 }
\ No newline at end of file