Diff: quadCommand/quadCommand.h

Revision:

0:8681037b9a18

Child:

1:9b90e7de6e09

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/quadCommand/quadCommand.h	Sun Jun 09 22:13:59 2013 +0000
@@ -0,0 +1,52 @@
+/************************* quadCommand.h *********************************/
+/*                                                                       */
+/*************************************************************************/
+
+#ifndef QUAD_COMMAND_H
+#define QUAD_COMMAND_H
+
+#include "mbed.h"
+#include "motor.h"
+#include "com.h"
+#include "sensors.h"
+
+const PinName MOTOR1    =   PTD4;   // Pin used for motor 1.
+const PinName MOTOR2    =   PTA12;  // Pin used for motor 2.
+const PinName MOTOR3    =   PTA4;   // Pin used for motor 3.
+const PinName MOTOR4    =   PTA5;   // Pin used for motor 4.
+
+const PinName TXPIN     =   PTD3;   // Pin used for xbee TX.
+const PinName RXPIN     =   PTD2;   // Pin used for xbee RX.
+
+class quadCommand 
+{
+    public:
+        quadCommand();          // Constructor.
+        void run();             // Loop.
+        void rxInput();         // Deal with new input from xbee.
+        void updatePosition();  
+        void txPosition();
+    
+    private:
+        motor *myMotors[4];     // Array of motor objects.
+        com *myCom;             // The com object.
+        sensors *world;         // Sensors used to observe the world.
+    
+        short rxThrottle;       // Throttle position: 0 -> 100.
+        short rxPitch;          // Pitch:   -180 -> 180.
+        short rxRoll;           // Roll:    -180 -> 180.
+        short rxYaw;            // Yaw:     -180 -> 180.
+        
+        bool globalUpdate;
+        
+        short currentPitch;     //
+        bool updatedPitch;
+        
+        short currentRoll;      //
+        bool updatedRoll;
+        
+        short currentAlt;       //
+        bool updatedAlt;
+};
+
+#endif
\ No newline at end of file