David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

Diff: quadcopter.h

Revision:
31:d473eacfc271
Parent:
29:ae765492fa8b
Child:
32:e12b01c94b4a
--- a/quadcopter.h	Wed Apr 20 02:29:37 2016 +0000
+++ b/quadcopter.h	Thu Apr 21 20:57:19 2016 +0000
@@ -84,13 +84,24 @@
     double kd_theta_;
     double kd_psi_;
     
+    double ki_phi_;
+    double ki_theta_;
+    //double ki_psi_;
+    double i_e_phi_;
+    double i_e_theta_;
+    float prev_time_; 
+
+    
     double zeroVelPwm;
     double maxPwm;
+    double max_integral_phi_;
+    double max_integral_theta_;
+
 
 public:
     Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr);  // constructor
 
-    void controller();
+    void controller(float time);
     void readSensorValues();
     void readRc();