Revision 9:9e0d0ba5b6b1, committed 2013-06-09

Comitter:

gabdo

Date:

Sun Jun 09 23:56:44 2013 +0000

Parent:

8:72791d8c36b7

Child:

10:a80e854955dc

Child:

13:af3be8c6aad7

Commit message:

Minor mods

Changed in this revision

--- a/quadCommand/quadCommand.cpp	Sun Jun 09 23:36:31 2013 +0000
+++ b/quadCommand/quadCommand.cpp	Sun Jun 09 23:56:44 2013 +0000
@@ -22,6 +22,10 @@
         rxYaw         = 0;
 }
 
+/******************************* run() ***********************************/
+/*                                                                       */
+/*************************************************************************/
+
 void quadCommand::run() 
 {   
     while(1)
@@ -31,23 +35,31 @@
     }
 }
 
+/***************************** rxInput() *********************************/
+/*                                                                       */
+/*************************************************************************/
+
 void quadCommand::rxInput()
 {
     short * command = myCom->read();
             
     if( command[0] == 1 )       // Throttle command.
-        rxThrottle = command[1];
+        targetThrottle = command[1];
                 
     if( command[0] == 2 )       // Pitch command.
-        rxPitch = command[1];
+        targetPitch = command[1];
                 
     if( command[0] == 3 )       // Roll command.
-        rxRoll = command[1];            
+        targetRoll = command[1];            
             
      if( command[0] == 4 )      // Yaw command.
-        rxYaw = command[1];
+        targetYaw = command[1];
 }
 
+/*************************** updateMotors() ******************************/
+/*                                                                       */
+/*************************************************************************/
+
 void quadCommand::updateMotors() {
      myMotors[ 0 ]->setSpeed( rxThrottle + rxPitch - rxRoll - rxYaw);    // Motor 1
      myMotors[ 1 ]->setSpeed( rxThrottle + rxPitch + rxRoll + rxYaw);    // Motor 2

--- a/quadCommand/quadCommand.h	Sun Jun 09 23:36:31 2013 +0000
+++ b/quadCommand/quadCommand.h	Sun Jun 09 23:56:44 2013 +0000
@@ -10,15 +10,23 @@
 #include "com.h"
 #include "sensors.h"
 
+// Motor constants.
 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.
 
+// Xbee constants.
 const PinName TXPIN     =   PTD3;   // Pin used for xbee TX.
 const PinName RXPIN     =   PTD2;   // Pin used for xbee RX.
 
-#define DEFAULT_WINDUP_GUARD 20.0f
+// Sensor constants.
+#define MMA8451_I2C_ADDRESS (0x1d<<1)   // Address of I2C accelerometer.
+const PinName ACCSDA    =   PTE25;  // Pin for accelerometer SDA line.
+const PinName ACCSCL    =   PTE24;  // Pin for accelerometer SCL line.
+
+// PID constants.
+#define DEFAULT_WINDUP_GUARD 20.0f  
 
 class quadCommand 
 {

--- a/quadCommand/sensorS/sensors.cpp	Sun Jun 09 23:36:31 2013 +0000
+++ b/quadCommand/sensorS/sensors.cpp	Sun Jun 09 23:56:44 2013 +0000
@@ -4,17 +4,31 @@
 
 #include "sensors.h"
 
+/***************************** sensors() *********************************/
+/*                                                                       */
+/*************************************************************************/
+
 sensors::sensors()
 {
      acc = new MMA8451Q( ACCSDA, ACCSCL, MMA8451_I2C_ADDRESS);
 }
 
+/************************** getAbsoluteX() *******************************/
+/* Returns a float from -1 to 1 for the value off level in the x         */
+/*directoin. 0 = level.                                                  */
+/*************************************************************************/
+
 float sensors::getAbsoluteX()
 {
-    return (acc->getAccX();
+    return acc->getAccX();
 } 
 
+/************************** getAbsoluteY() *******************************/
+/* Returns a float from -1 to 1 for the value off level in the Y         */
+/*directoin. 0 = level.                                                  */
+/*************************************************************************/
+
 float sensors::getAbsoluteY()
 {
-    return (acc->getAccY();
+    return acc->getAccY();
 } 
\ No newline at end of file

--- a/quadCommand/sensorS/sensors.h	Sun Jun 09 23:36:31 2013 +0000
+++ b/quadCommand/sensorS/sensors.h	Sun Jun 09 23:56:44 2013 +0000
@@ -7,18 +7,14 @@
 #ifndef SENSORS_H
 #define SENSORS_H
 
-#define MMA8451_I2C_ADDRESS (0x1d<<1)
-const PinName ACCSDA    =   PTE25; 
-const PinName ACCSCL    =   PTE24;
-
 class sensors
 {
     public:
         sensors();
-        float getAbsoluteX();
-        float getAbsoluteY();
+        float getAbsoluteX();   // Get the value off level in the X directoin.
+        float getAbsoluteY();   // Get the value off level in the Y directoin.
     
     private:
-        MMA8451Q *acc;
+        MMA8451Q *acc;          // Pointer to the acceleromi
 };
 #endif
\ No newline at end of file