Diff: Quadcopter.cpp

Revision:

9:22c52af13ac2

Parent:

8:0e9474cce85b

Child:

10:8147131fcebd

--- a/Quadcopter.cpp	Fri Feb 20 01:22:20 2015 +0000
+++ b/Quadcopter.cpp	Wed Feb 25 00:55:08 2015 +0000
@@ -7,29 +7,20 @@
     motor[1] = new Servo (FR);  
     motor[2] = new Servo (BL);
     motor[3] = new Servo (BR);
+    
+    min_calibrate = 0.0;
+    max_calibrate = 1.0;
 }
  
 //------------------------------Function for ESC calibration---------------------
-void Quadcopter::calibrate (float min, float max){
-    if (min > max){             //here detect if someone tried making min to be more than max. If that is the case, then flip them together
-        min_calibrate = max;
-        max_calibrate = min;   
-    } else {   
-        min_calibrate = min;
-        max_calibrate = max;
-    }
-    if ((min > 1.0) || (min < 0.0)) //here chech if values are in correct range. If they are not, make them to be in correct range
-        min_calibrate = 0.0;
-    if ((max > 1.0) || (max < 0.0))
-        max_calibrate = 1.0;
-        
+void Quadcopter::calibrate (){        
     for (int i = 0; i < 4; i++){    //run motors for some time in min speed
         *motor[i] = max_calibrate;
     }   
     wait(6.0);                      //wait for the response from ESC modules
     for (int i = 0; i < 4; i++){
         *motor[i] = min_calibrate;  //run motors at maximum speed
-    }  
+    }
     wait(2.0);      //again wait for response
 }
 //-------------------------------------Function for Stabilising---------------
@@ -44,14 +35,37 @@
     //simply map values in the correct range and run PWM signals for each motor
     for (int i = 0; i < 4; i++){
         if (speed[i] < 0.0)
-            *motor[i] = min.calibrate;
+            *motor[i] = min_calibrate;
         else if (speed[i] > 1.0)
             *motor[i] = max_calibrate;
         else
             *motor[i] = this->map(speed[i], 0.0, 1.0, min_calibrate, max_calibrate);
     }
 }
+//--------------------------Function for setting calibration limits-----------
+void Quadcopter::setLimits(float min, float max){
+    if (min > max){             //here detect if someone tried making min to be more than max. If that is the case, then flip them together
+        min_calibrate = max;
+        max_calibrate = min;   
+    } else {   
+        min_calibrate = min;
+        max_calibrate = max;
+    }    
+    if ((min_calibrate > 1.0) || (min_calibrate < 0.0)) //here chech if values are in correct range. If they are not, make them to be in correct range
+        min_calibrate = 0.0;
+    if ((max_calibrate > 1.0) || (max_calibrate < 0.0))
+        max_calibrate = 1.0;
+}
 //-----------------------------Mapping function-----------------------------
 float Quadcopter::map(float x, float in_min, float in_max, float out_min, float out_max){   //simply maps values in the given range
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+float Quadcopter::getLowerLimit(){
+    return min_calibrate;
+}
+
+float Quadcopter::getUpperLimit(){
+    return max_calibrate;
+    
 }
\ No newline at end of file