Diff: quadcopter.h

Revision:

7:f3f94eadc5b5

Parent:

6:6f3ffd97d808

Child:

8:326e7009ce0c

--- a/quadcopter.h	Sat Apr 02 13:13:41 2016 +0000
+++ b/quadcopter.h	Sat Apr 02 13:34:57 2016 +0000
@@ -1,26 +1,53 @@
 #ifndef QUADCOPTER_H
 #define QUADCOPTER_H
 
+#include "mbed.h"
+#include "Adafruit_9DOF.h"
 
-struct _state {
-    double phi;
-    double theta;
-    double psi;
+
+struct state {
+    double _phi;
+    double _theta;
+    double _psi;
 };
- 
+
+struct force {
+    double _fx;
+    double _fy;
+    double _fz;
+};
+
+struct offset {
+    double x_offset;
+    double y_offset;
+    double z_offset;
+};
+
 class Quadcopter
 {
 private:
-    _state state;
-   
- 
+    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;
+
+offset _offsetAngRate;
+offset _offsetAttitude;
+
+
 public:
     Quadcopter();
- 
+
     void SetState(double phi, double theta, double psi);
- 
-    _state getState() { return state; }
- 
+
+    state getState() {
+        return _state;
+    }
+
 };
- 
+
 #endif
\ No newline at end of file