Diff: Quadcopter.h

Revision:

3:84d246dccb8d

Parent:

0:341a08dbf9ba

Child:

4:90ce5817667b

--- a/Quadcopter.h	Thu Feb 19 12:19:17 2015 +0000
+++ b/Quadcopter.h	Thu Feb 19 23:16:00 2015 +0000
@@ -4,18 +4,35 @@
 #include "mbed.h"
 #include "Servo.h"
  
+//class used for creating a user friendly interface for controlling quadcopter motors
+ 
 class Quadcopter {
 public:
+    //constructor of the instance. FL correspond to Front_Left, FR to Front Right...
     Quadcopter(PinName FL, PinName FR, PinName BL, PinName BR);
-  
+    
+    //function used to calibrate all 4 ESC before actually flying the copter
+    //it takes min and max values, which are in range from 0.0 to 1.0
+    //it does not matter which of inputs is min and which is max as function checks that itself
+    //If inputs are out of boundaries, min value becomes 0.0, and max value becomes 1.0 automatically
     void calibrate (float min, float max);
+    
+    //function for runing motors
+    //Function takes array of 4 variables, which corresponds to the speed for all 4 motors
+    //speeds are in range from 0.0 to 1.0
     void run (float* speed);
+    
+    //function used calculate the speed at which each of the motors should run to be able to stabilise the quadcopter
+    //speed here is the current speed for each motor, actSpeed is the output speed at which motors should run
+    //rollDiff & pitchDiff are both calculated using PID library function PID::compute();
     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);
+    
+    float min_calibrate;    //min value at which each motor is calibrated
+    float max_calibrate     //max value ...
+    Servo* motor[4];        //motors are used with Servo library as ESC take the same input as usual Servo motors...
+    float map(float x, float in_min, float in_max, float out_min, float out_max);    //function for mapping values in the range from min calibrate to max_calibrate
 };
  
 #endif
\ No newline at end of file