Montvydas Klumbys / Quadcopter

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.

Dependents:   QuadcopterProgram

Quadcopter.h

Committer:
moklumbys
Date:
2015-02-18
Revision:
0:341a08dbf9ba
Child:
3:84d246dccb8d

File content as of revision 0:341a08dbf9ba:

#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