David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.h@8:326e7009ce0c, 2016-04-02 (annotated)

Committer:
ivo_david_michelle
Date:
Sat Apr 02 13:47:58 2016 +0000
Revision:
8:326e7009ce0c
Parent:
7:f3f94eadc5b5
Child:
9:f1bd96708a21
added publich members to quadcopter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ivo_david_michelle 6:6f3ffd97d808 1 #ifndef QUADCOPTER_H
ivo_david_michelle 6:6f3ffd97d808 2 #define QUADCOPTER_H
ivo_david_michelle 6:6f3ffd97d808 3
ivo_david_michelle 7:f3f94eadc5b5 4 #include "mbed.h"
ivo_david_michelle 7:f3f94eadc5b5 5 #include "Adafruit_9DOF.h"
ivo_david_michelle 6:6f3ffd97d808 6
ivo_david_michelle 7:f3f94eadc5b5 7
ivo_david_michelle 7:f3f94eadc5b5 8 struct state {
ivo_david_michelle 8:326e7009ce0c 9 double phi;
ivo_david_michelle 8:326e7009ce0c 10 double theta;
ivo_david_michelle 8:326e7009ce0c 11 double psi;
ivo_david_michelle 6:6f3ffd97d808 12 };
ivo_david_michelle 7:f3f94eadc5b5 13
ivo_david_michelle 7:f3f94eadc5b5 14 struct force {
ivo_david_michelle 8:326e7009ce0c 15 double fx;
ivo_david_michelle 8:326e7009ce0c 16 double y;
ivo_david_michelle 8:326e7009ce0c 17 double fz;
ivo_david_michelle 7:f3f94eadc5b5 18 };
ivo_david_michelle 7:f3f94eadc5b5 19
ivo_david_michelle 7:f3f94eadc5b5 20 struct offset {
ivo_david_michelle 7:f3f94eadc5b5 21 double x_offset;
ivo_david_michelle 7:f3f94eadc5b5 22 double y_offset;
ivo_david_michelle 7:f3f94eadc5b5 23 double z_offset;
ivo_david_michelle 7:f3f94eadc5b5 24 };
ivo_david_michelle 7:f3f94eadc5b5 25
ivo_david_michelle 6:6f3ffd97d808 26 class Quadcopter
ivo_david_michelle 6:6f3ffd97d808 27 {
ivo_david_michelle 6:6f3ffd97d808 28 private:
ivo_david_michelle 8:326e7009ce0c 29 state state_;
ivo_david_michelle 8:326e7009ce0c 30 force force_;
ivo_david_michelle 7:f3f94eadc5b5 31 //pwmOut * _pwmOut; // give address to constructor, than change this value
ivo_david_michelle 7:f3f94eadc5b5 32
ivo_david_michelle 8:326e7009ce0c 33 Adafruit_9DOF dof_;
ivo_david_michelle 8:326e7009ce0c 34 Adafruit_LSM303_Accel_Unified accel_;
ivo_david_michelle 8:326e7009ce0c 35 Adafruit_LSM303_Mag_Unified mag_;
ivo_david_michelle 8:326e7009ce0c 36 Adafruit_L3GD20_Unified gyro_;
ivo_david_michelle 7:f3f94eadc5b5 37
ivo_david_michelle 8:326e7009ce0c 38 offset offsetAngRate_;
ivo_david_michelle 8:326e7009ce0c 39 offset offsetAttitude_;
ivo_david_michelle 7:f3f94eadc5b5 40
ivo_david_michelle 7:f3f94eadc5b5 41
ivo_david_michelle 6:6f3ffd97d808 42 public:
ivo_david_michelle 6:6f3ffd97d808 43 Quadcopter();
ivo_david_michelle 7:f3f94eadc5b5 44
ivo_david_michelle 8:326e7009ce0c 45 void setState(double phi, double theta, double psi);
ivo_david_michelle 8:326e7009ce0c 46
ivo_david_michelle 7:f3f94eadc5b5 47 state getState() {
ivo_david_michelle 8:326e7009ce0c 48 return state_;
ivo_david_michelle 7:f3f94eadc5b5 49 }
ivo_david_michelle 8:326e7009ce0c 50 void setPwm();
ivo_david_michelle 8:326e7009ce0c 51 void initializePwm();
ivo_david_michelle 8:326e7009ce0c 52 void controller();
ivo_david_michelle 8:326e7009ce0c 53 void setState();
ivo_david_michelle 8:326e7009ce0c 54 void readSensorValues();
ivo_david_michelle 8:326e7009ce0c 55 void initSensors();
ivo_david_michelle 6:6f3ffd97d808 56 };
ivo_david_michelle 7:f3f94eadc5b5 57
ivo_david_michelle 6:6f3ffd97d808 58 #endif