David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

Diff: quadcopter.h

Revision:
42:d09dec5bb184
Parent:
36:40b134328376
Child:
46:4bcf2e679f96
--- a/quadcopter.h	Wed May 04 18:46:06 2016 +0000
+++ b/quadcopter.h	Wed May 04 21:35:05 2016 +0000
@@ -9,6 +9,12 @@
 #include "rtos.h"
 
 #define FILTER_SIZE 1
+#define MIN_PWM_1   0.1172
+#define MIN_PWM_2   0.1161
+#define MIN_PWM_3   0.1161
+#define MIN_PWM_4   0.1171
+#define OFF_PWM     0.1
+#define MAX_PWM     0.15
 
 // a few struct declarations. Can possibly eliminated using the vector class in STL
 struct state {
@@ -115,9 +121,6 @@
     double compAngleX;
     double compAngleY;
 
-    
-    double zeroVelPwm;
-    double maxPwm;
     double max_integral_phi_;
     double max_integral_theta_;