Diff: quadcopter.h

Revision:

8:326e7009ce0c

Parent:

7:f3f94eadc5b5

Child:

9:f1bd96708a21

--- a/quadcopter.h	Sat Apr 02 13:34:57 2016 +0000
+++ b/quadcopter.h	Sat Apr 02 13:47:58 2016 +0000
@@ -6,15 +6,15 @@
 
 
 struct state {
-    double _phi;
-    double _theta;
-    double _psi;
+    double phi;
+    double theta;
+    double psi;
 };
 
 struct force {
-    double _fx;
-    double _fy;
-    double _fz;
+    double fx;
+    double y;
+    double fz;
 };
 
 struct offset {
@@ -26,28 +26,33 @@
 class Quadcopter
 {
 private:
-    state _state;
-    force _force;
+    state state_;
+    force force_;
 //pwmOut * _pwmOut; // give address to constructor, than change this value
 
-Adafruit_9DOF dof;
-Adafruit_LSM303_Accel_Unified accel;
-Adafruit_LSM303_Mag_Unified mag;
-Adafruit_L3GD20_Unified gyro;
+Adafruit_9DOF dof_;
+Adafruit_LSM303_Accel_Unified accel_;
+Adafruit_LSM303_Mag_Unified mag_;
+Adafruit_L3GD20_Unified gyro_;
 
-offset _offsetAngRate;
-offset _offsetAttitude;
+offset offsetAngRate_;
+offset offsetAttitude_;
 
 
 public:
     Quadcopter();
 
-    void SetState(double phi, double theta, double psi);
-
+    void setState(double phi, double theta, double psi);
+    
     state getState() {
-        return _state;
+        return state_;
     }
-
+    void setPwm();
+    void initializePwm();
+    void controller();
+    void setState();
+    void readSensorValues();
+    void initSensors();
 };
 
 #endif
\ No newline at end of file