File content as of revision 0:b1f2c9e88e32:

#ifndef Mixer_h
#define Mixer_h

#include "mbed.h"

// Physical constants 
const float alpha = 1.16e-07f;
const float beta = 7.149e-10f;
const float kl = 1.726e-08f;
const float kd = 1.426e-10f;
const float l = 0.033f;

// Class implementation
class Mixer
{
  public:
    // Class constructor
    //Mixer(PinName pin_1 = PA_1, PinName pin_2 = PB_11, PinName pin_3 = PA_15, PinName pin_4 = PB_9_ALT1);
    Mixer();
    // Actuate motors with the desired force (N) and torques (N.m)
    void actuate(float f_t, float tau_phi, float tau_theta, float tau_psi);
  private:
    // Motors PWM outputs
    PwmOut motor_1, motor_2, motor_3, motor_4;
    // Angular velocities (rad/s)
    float omega_1, omega_2, omega_3, omega_4;
    // Converts desired force (N) and torques (N.m) to angular velocities (rad/s)
    void force_and_torques_to_angular_velocities(float f_t, float tau_phi, float tau_theta, float tau_psi);
    // Converts desired angular velocity (rad/s) to PWM signal
    float angular_velocity_to_pwm(float omega);
};

#endif