David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.h@7:f3f94eadc5b5, 2016-04-02 (annotated)

Committer:
ivo_david_michelle
Date:
Sat Apr 02 13:34:57 2016 +0000
Revision:
7:f3f94eadc5b5
Parent:
6:6f3ffd97d808
Child:
8:326e7009ce0c
implemented private variables in quadcopter.h

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 7:f3f94eadc5b5 9 double _phi;
ivo_david_michelle 7:f3f94eadc5b5 10 double _theta;
ivo_david_michelle 7:f3f94eadc5b5 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 7:f3f94eadc5b5 15 double _fx;
ivo_david_michelle 7:f3f94eadc5b5 16 double _fy;
ivo_david_michelle 7:f3f94eadc5b5 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 7:f3f94eadc5b5 29 state _state;
ivo_david_michelle 7:f3f94eadc5b5 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 7:f3f94eadc5b5 33 Adafruit_9DOF dof;
ivo_david_michelle 7:f3f94eadc5b5 34 Adafruit_LSM303_Accel_Unified accel;
ivo_david_michelle 7:f3f94eadc5b5 35 Adafruit_LSM303_Mag_Unified mag;
ivo_david_michelle 7:f3f94eadc5b5 36 Adafruit_L3GD20_Unified gyro;
ivo_david_michelle 7:f3f94eadc5b5 37
ivo_david_michelle 7:f3f94eadc5b5 38 offset _offsetAngRate;
ivo_david_michelle 7:f3f94eadc5b5 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 6:6f3ffd97d808 45 void SetState(double phi, double theta, double psi);
ivo_david_michelle 7:f3f94eadc5b5 46
ivo_david_michelle 7:f3f94eadc5b5 47 state getState() {
ivo_david_michelle 7:f3f94eadc5b5 48 return _state;
ivo_david_michelle 7:f3f94eadc5b5 49 }
ivo_david_michelle 7:f3f94eadc5b5 50
ivo_david_michelle 6:6f3ffd97d808 51 };
ivo_david_michelle 7:f3f94eadc5b5 52
ivo_david_michelle 6:6f3ffd97d808 53 #endif