Oskar Weigl / Mbed 2 deprecated Quadcopter_copy

Very early flyable code.

Dependencies:   mbed RF12B

GlobalsNDefines.h

Committer:
madcowswe
Date:
2011-10-01
Revision:
0:9fcb3bf5c231

File content as of revision 0:9fcb3bf5c231:

/*
#ifndef GlobalsNDefines_H_
#define GlobalsNDefines_H_
*/

#include "mbed.h"
#include "RF12B.h"

Serial pc(USBTX, USBRX); // tx, rx
I2C i2c(p28, p27);
//Rfm12b rfm12b(p5, p6, p7, p8, p11);
RF12B radiolink(p5, p6, p7, p8, p9);
DigitalOut myled(LED1);
DigitalOut motormaxled(LED2);
DigitalIn Nkill(p10);
Ticker watchdog;

PwmOut PWMfront(p23);
PwmOut PWMrear(p22);
PwmOut PWMleft(p24);
PwmOut PWMright(p21);

AnalogIn altsensor(p15);

#define RPSPUNIT -0.00126766
#define NOPOWER 0.063
#define ACCADDRESS 0x4C
#define LOOPTIME 0.01
#define ACCDECAY 50
#define YAWCAP 1.5f
#define COMMANDPERIOD 0.1;
#define ALTGAIN 
//#define ALTSENSOR

float gyrcalib[] = {0.0, 0.0, 0.0};
bool loopalive = 1;
bool commandsalive = 1;


//#endif