NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Mixer/Mixer.cpp@28:ba6ca9f4def4, 2012-12-01 (annotated)
- Committer:
- maetugr
- Date:
- Sat Dec 01 07:13:04 2012 +0000
- Revision:
- 28:ba6ca9f4def4
- Parent:
- 26:96a072233d7a
- Child:
- 29:8b7362a2ee14
bevor eigener PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 26:96a072233d7a | 1 | #include "Mixer.h" |
maetugr | 26:96a072233d7a | 2 | |
maetugr | 26:96a072233d7a | 3 | Mixer::Mixer() |
maetugr | 26:96a072233d7a | 4 | { |
maetugr | 26:96a072233d7a | 5 | for(int i=0; i<4; i++) |
maetugr | 26:96a072233d7a | 6 | Motor_speed[i]=0; |
maetugr | 26:96a072233d7a | 7 | } |
maetugr | 26:96a072233d7a | 8 | |
maetugr | 26:96a072233d7a | 9 | void Mixer::compute(unsigned long dt, const float * angle, int Throttle, const float * controller_value) |
maetugr | 26:96a072233d7a | 10 | { |
maetugr | 26:96a072233d7a | 11 | // Calculate new motorspeeds |
maetugr | 28:ba6ca9f4def4 | 12 | |
maetugr | 28:ba6ca9f4def4 | 13 | for(int i=0; i<4; i++) |
maetugr | 28:ba6ca9f4def4 | 14 | Motor_speed[i] = Throttle; |
maetugr | 28:ba6ca9f4def4 | 15 | |
maetugr | 28:ba6ca9f4def4 | 16 | Motor_speed[1] += +controller_value[0]; // Roll |
maetugr | 28:ba6ca9f4def4 | 17 | Motor_speed[3] -= -controller_value[0]; |
maetugr | 26:96a072233d7a | 18 | |
maetugr | 28:ba6ca9f4def4 | 19 | Motor_speed[0] += controller_value[1]; // Pitch |
maetugr | 28:ba6ca9f4def4 | 20 | Motor_speed[2] -= controller_value[1]; |
maetugr | 28:ba6ca9f4def4 | 21 | |
maetugr | 28:ba6ca9f4def4 | 22 | Motor_speed[1] += controller_value[2]; // Yaw |
maetugr | 28:ba6ca9f4def4 | 23 | Motor_speed[3] += controller_value[2]; |
maetugr | 28:ba6ca9f4def4 | 24 | Motor_speed[0] -= controller_value[2]; |
maetugr | 28:ba6ca9f4def4 | 25 | Motor_speed[2] -= controller_value[2]; |
maetugr | 26:96a072233d7a | 26 | |
maetugr | 26:96a072233d7a | 27 | for(int i = 0; i < 4; i++) // make shure no motor stands still |
maetugr | 26:96a072233d7a | 28 | Motor_speed[i] = Motor_speed[i] > 50 ? Motor_speed[i] : 50; |
maetugr | 26:96a072233d7a | 29 | } |