Montvydas Klumbys
A library used for controlling a quadcopter. It provides an easy to use interface, which allows to mount, calibrate and run motors. It is also able to calibrate the actual speed according to calculated PID roll & pitch difference. I used the original Servo library as ESC modules use the same PWM signal as Servo motors.
Diff: Quadcopter.h
- Revision:
- 0:341a08dbf9ba
- Child:
- 3:84d246dccb8d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Quadcopter.h Wed Feb 18 23:44:04 2015 +0000
@@ -0,0 +1,21 @@
+#ifndef QUADCOPTER_H
+#define QUADCOPTER_H
+
+#include "mbed.h"
+#include "Servo.h"
+
+class Quadcopter {
+public:
+ Quadcopter(PinName FL, PinName FR, PinName BL, PinName BR);
+
+ void calibrate (float min, float max);
+ void run (float* speed);
+ void stabilise (float* speed, float* actSpeed, float rollDiff, float pitchDiff);
+private:
+ float MIN_CALIBRATE;
+ float MAX_CALIBRATE;
+ Servo* motor[4];
+ float map(float x, float in_min, float in_max, float out_min, float out_max);
+};
+
+#endif
\ No newline at end of file