Oskar Weigl
/
Quadcopterv2
This is for ICRS\' second generation Quadcopter
motors.h
- Committer:
- madcowswe
- Date:
- 2011-11-18
- Revision:
- 0:0bbf2f16da9c
File content as of revision 0:0bbf2f16da9c:
void initmotor() { PWMleft.period_ms(20); PWMleft = NOPOWER; PWMright.period_ms(20); PWMright = NOPOWER; PWMfront.period_ms(20); PWMfront = NOPOWER; PWMrear.period_ms(20); PWMrear = NOPOWER; } void leftM(float thrust) { float output = (542 + 0.462 * thrust) / 10000; if (output > 0.0950) { PWMleft = 0.0950; motormaxled = 1; } else { PWMleft = output; } } void rightM(float thrust) { float output = (542 + 0.462 * thrust) / 10000; if (output > 0.0950) { PWMright = 0.0950; motormaxled = 1; } else { PWMright = output; } } void frontM(float thrust) { float output = (542 + 0.462 * thrust) / 10000; if (output > 0.950) { PWMfront = 0.0950; motormaxled = 1; } else { PWMfront = output; } } void rearM(float thrust) { float output = (542 + 0.462 * thrust) / 10000; if (output > 0.0950) { PWMrear = 0.0950; motormaxled = 1; } else { PWMrear = output; } }