Oskar Weigl
/
Quadcopterv2
This is for ICRS\' second generation Quadcopter
GlobalsNDefines.h
- Committer:
- madcowswe
- Date:
- 2011-11-18
- Revision:
- 0:0bbf2f16da9c
File content as of revision 0:0bbf2f16da9c:
/* #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 0.048 #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; bool integratestop = 0; //#endif