David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.h

Committer:
ivo_david_michelle
Date:
2016-04-02
Revision:
7:f3f94eadc5b5
Parent:
6:6f3ffd97d808
Child:
8:326e7009ce0c

File content as of revision 7:f3f94eadc5b5:

#ifndef QUADCOPTER_H
#define QUADCOPTER_H

#include "mbed.h"
#include "Adafruit_9DOF.h"


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;
    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;
    }

};

#endif