Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

FlightController/MotorMixer/MotorMixer.h@2:969dfa4f2436, 2015-04-01 (annotated)

Committer:
joe4465
Date:
Wed Apr 01 11:19:21 2015 +0000
Revision:
2:969dfa4f2436
Parent:
0:c6a85bb2a827 
Altitude hold with 2 PID's working. Exported to offline compiler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 0:c6a85bb2a827 1 #include "mbed.h"
joe4465 0:c6a85bb2a827 2 #include "Global.h"
joe4465 0:c6a85bb2a827 3 #include "PidWrapper.h"
joe4465 2:969dfa4f2436 4 #include "NavigationController.h"
joe4465 0:c6a85bb2a827 5
joe4465 0:c6a85bb2a827 6 #ifndef MotorMixer_H
joe4465 0:c6a85bb2a827 7 #define MotorMixer_H
joe4465 0:c6a85bb2a827 8
joe4465 0:c6a85bb2a827 9 class MotorMixer
joe4465 0:c6a85bb2a827 10 {
joe4465 0:c6a85bb2a827 11 public:
joe4465 2:969dfa4f2436 12 MotorMixer(PinName motor1, PinName motor2, PinName motor3, PinName motor4);
joe4465 0:c6a85bb2a827 13 ~MotorMixer();
joe4465 0:c6a85bb2a827 14
joe4465 0:c6a85bb2a827 15 struct MotorPower
joe4465 0:c6a85bb2a827 16 {
joe4465 2:969dfa4f2436 17 double motor1;
joe4465 2:969dfa4f2436 18 double motor2;
joe4465 2:969dfa4f2436 19 double motor3;
joe4465 2:969dfa4f2436 20 double motor4;
joe4465 0:c6a85bb2a827 21 };
joe4465 0:c6a85bb2a827 22
joe4465 2:969dfa4f2436 23 void computePower(PidWrapper::PidOutput pidOutput, double throttle);
joe4465 2:969dfa4f2436 24 void computePower(double throttle);
joe4465 2:969dfa4f2436 25 void setPower(double motorPower);
joe4465 2:969dfa4f2436 26 void setPower(double motor1Power, double motor2Power, double motor3Power, double motor4Power);
joe4465 2:969dfa4f2436 27 void setPower(MotorMixer::MotorPower motorPower);
joe4465 0:c6a85bb2a827 28 MotorPower getMotorPower();
joe4465 0:c6a85bb2a827 29
joe4465 0:c6a85bb2a827 30 private:
joe4465 0:c6a85bb2a827 31 PwmOut* _motor1;
joe4465 0:c6a85bb2a827 32 PwmOut* _motor2;
joe4465 0:c6a85bb2a827 33 PwmOut* _motor3;
joe4465 0:c6a85bb2a827 34 PwmOut* _motor4;
joe4465 0:c6a85bb2a827 35
joe4465 0:c6a85bb2a827 36 MotorPower _motorPower;
joe4465 0:c6a85bb2a827 37 };
joe4465 0:c6a85bb2a827 38
joe4465 0:c6a85bb2a827 39 #endif