ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: quadcopter.cpp
- Revision:
- 12:422963993df5
- Parent:
- 11:5c54826d23a7
- Child:
- 13:291ba30c7806
diff -r 5c54826d23a7 -r 422963993df5 quadcopter.cpp --- a/quadcopter.cpp Sat Apr 02 18:01:36 2016 +0000 +++ b/quadcopter.cpp Sat Apr 02 21:40:37 2016 +0000 @@ -26,6 +26,9 @@ accel_ = Adafruit_LSM303_Accel_Unified(30301); mag_ = Adafruit_LSM303_Mag_Unified(30302); gyro_ = Adafruit_L3GD20_Unified(20); + + + } void Quadcopter::initAllSensors() @@ -98,13 +101,12 @@ } - -motors getPwm() +motors Quadcopter::getPwm() { - motors motorPwm_; + //motors motorPwm_;// weired errror, should not be necessary motorPwm_.m1=0; - motorPwm_.m2=0.6+controlInput_.mx/100; + motorPwm_.m2=0.65+controlInput_.mx/100; motorPwm_.m3=0; - motorPwm_.m4=0.6-controlInput_.mx/100; - return motorPwm; + motorPwm_.m4=0.65-controlInput_.mx/100; + return motorPwm_; }