ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: quadcopter.h
- Revision:
- 31:d473eacfc271
- Parent:
- 29:ae765492fa8b
- Child:
- 32:e12b01c94b4a
diff -r 4820042e67b5 -r d473eacfc271 quadcopter.h --- a/quadcopter.h Wed Apr 20 02:29:37 2016 +0000 +++ b/quadcopter.h Thu Apr 21 20:57:19 2016 +0000 @@ -84,13 +84,24 @@ double kd_theta_; double kd_psi_; + double ki_phi_; + double ki_theta_; + //double ki_psi_; + double i_e_phi_; + double i_e_theta_; + float prev_time_; + + double zeroVelPwm; double maxPwm; + double max_integral_phi_; + double max_integral_theta_; + public: Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr); // constructor - void controller(); + void controller(float time); void readSensorValues(); void readRc();