File content as of revision 3:84d246dccb8d:

#ifndef QUADCOPTER_H
#define QUADCOPTER_H
 
#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;    //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