ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: quadcopter.h
- Revision:
- 42:d09dec5bb184
- Parent:
- 36:40b134328376
- Child:
- 46:4bcf2e679f96
diff -r d103f9aa44f0 -r d09dec5bb184 quadcopter.h --- a/quadcopter.h Wed May 04 18:46:06 2016 +0000 +++ b/quadcopter.h Wed May 04 21:35:05 2016 +0000 @@ -9,6 +9,12 @@ #include "rtos.h" #define FILTER_SIZE 1 +#define MIN_PWM_1 0.1172 +#define MIN_PWM_2 0.1161 +#define MIN_PWM_3 0.1161 +#define MIN_PWM_4 0.1171 +#define OFF_PWM 0.1 +#define MAX_PWM 0.15 // a few struct declarations. Can possibly eliminated using the vector class in STL struct state { @@ -115,9 +121,6 @@ double compAngleX; double compAngleY; - - double zeroVelPwm; - double maxPwm; double max_integral_phi_; double max_integral_theta_;