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.cpp
- Revision:
- 10:8147131fcebd
- Parent:
- 9:22c52af13ac2
--- a/Quadcopter.cpp Wed Feb 25 00:55:08 2015 +0000
+++ b/Quadcopter.cpp Wed Feb 25 10:42:36 2015 +0000
@@ -60,11 +60,11 @@
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;
}
-
+//-------------------------------Functiuon for getting the lower calibration limit------------
float Quadcopter::getLowerLimit(){
return min_calibrate;
}
-
+//----------------------------Function for getting upper calibration limit--------------------
float Quadcopter::getUpperLimit(){
return max_calibrate;