David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

Diff: quadcopter.h

Revision:
27:11116aa69f32
Parent:
25:d44610851105
Child:
29:ae765492fa8b
diff -r 7f50323c0c0d -r 11116aa69f32 quadcopter.h
--- a/quadcopter.h	Thu Apr 14 19:58:42 2016 +0000
+++ b/quadcopter.h	Thu Apr 14 22:32:30 2016 +0000
@@ -92,6 +92,12 @@
 
     // desired force (will come from joystick)
     double F_des_; // desired thrust force (excluding weight compensation)
+    
+    
+    double zeroVelPwm;
+    double maxPwm;
+
+
 
 public:
     Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr);  // constructor
@@ -109,12 +115,8 @@
     Adafruit_L3GD20_Unified getGyro();
     Adafruit_9DOF getIMU();
     offset* getOffset();
+    double getForce();
 
-    float thrust;
-    float yaw;
-    float pitch;
-    float roll;
-    long long id;
 
     // not implemented yet
     //void setGains();