ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: quadcopter.h
- Revision:
- 29:ae765492fa8b
- Parent:
- 27:11116aa69f32
- Child:
- 31:d473eacfc271
diff -r 61f7356325c3 -r ae765492fa8b quadcopter.h --- a/quadcopter.h Fri Apr 15 19:08:56 2016 +0000 +++ b/quadcopter.h Fri Apr 15 19:33:14 2016 +0000 @@ -6,7 +6,6 @@ #include "Serial_base.h" #include "MRF24J40.h" - // a few struct declarations. Can possibly eliminated using the vector class in STL struct state { double phi; // roll @@ -15,7 +14,6 @@ double p; // omega x double q; // omega y double r; // omega z - }; struct controlInput { @@ -55,10 +53,9 @@ state state_; state desiredState_; + double F_des_; // desired thrust force (excluding weight compensation) controlInput controlInput_; - //pwmOut * _pwmOut; // give address to constructor, than change this value motors motorPwm_; - PwmOut *motor1_; // declarations for IMU use Adafruit_9DOF dof_; @@ -71,9 +68,6 @@ sensors_vec_t orientation_; offset* initial_offsets_; - Serial *pcPntr_; // used to access serial communication - - double g_; // gravity [m/s^2] double m_; // mass [kg] double l_; // arm lenght [m] @@ -89,23 +83,15 @@ double kd_phi_; double kd_theta_; double kd_psi_; - - // 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 - void setState(state *source, state *goal); // not sure if needed void controller(); void readSensorValues(); - void readRc(); motors getPwm(); @@ -116,12 +102,6 @@ Adafruit_9DOF getIMU(); offset* getOffset(); double getForce(); - - - // not implemented yet - //void setGains(); - //void setPwm(); - //void initializePwm(); }; #endif \ No newline at end of file