File content as of revision 24:7b9e3beb61d5:

#ifndef Mixer_h
#define Mixer_h

#include "mbed.h"
#include "Parameters.h"

// Mixer class
class Mixer
{
  public:
    // Class constructor
    Mixer();
    // Actuate motors with desired total trust force (N) and torques (N.m)
    void actuate(float f_t, float tau_phi, float tau_theta, float tau_psi);
    
    void arm();
    
    void disarm();
  private:
    // Motors PWM outputs
    PwmOut motor_1, motor_2, motor_3, motor_4;
    // LED digital outputs
    DigitalOut led_1_red, led_1_green, led_4_red, led_4_green;
    //
    bool armed;
    // Angular velocities (rad/s)
    float omega_1, omega_2, omega_3, omega_4;
    // Converts total trust 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