Prosper Van / Mbed 2 deprecated quadCommand2

added gy80 dcm

Dependencies:   mbed DCM_AHRS_GY80 PID MMA8451Q

Fork of quadCommand by Greg Abdo

quadCommand/quadCommand.h@16:84c7db5b4464, 2013-06-10 (annotated)

Committer:
dereklmc
Date:
Mon Jun 10 00:04:56 2013 +0000
Revision:
16:84c7db5b4464
Parent:
9:9e0d0ba5b6b1
Parent:
15:92ecb025fbc5
Child:
17:d73944c3c945
Merge R11, R9

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gabdo 0:8681037b9a18 1 /************************* quadCommand.h *********************************/
gabdo 0:8681037b9a18 2 /* */
gabdo 0:8681037b9a18 3 /*************************************************************************/
gabdo 0:8681037b9a18 4
gabdo 0:8681037b9a18 5 #ifndef QUAD_COMMAND_H
gabdo 0:8681037b9a18 6 #define QUAD_COMMAND_H
gabdo 0:8681037b9a18 7
gabdo 0:8681037b9a18 8 #include "mbed.h"
gabdo 0:8681037b9a18 9 #include "motor.h"
gabdo 0:8681037b9a18 10 #include "com.h"
gabdo 0:8681037b9a18 11 #include "sensors.h"
dereklmc 15:92ecb025fbc5 12 #include "PID/PID.h"
gabdo 0:8681037b9a18 13
gabdo 9:9e0d0ba5b6b1 14 // Motor constants.
gabdo 0:8681037b9a18 15 const PinName MOTOR1 = PTD4; // Pin used for motor 1.
gabdo 0:8681037b9a18 16 const PinName MOTOR2 = PTA12; // Pin used for motor 2.
gabdo 0:8681037b9a18 17 const PinName MOTOR3 = PTA4; // Pin used for motor 3.
gabdo 0:8681037b9a18 18 const PinName MOTOR4 = PTA5; // Pin used for motor 4.
gabdo 0:8681037b9a18 19
gabdo 9:9e0d0ba5b6b1 20 // Xbee constants.
gabdo 0:8681037b9a18 21 const PinName TXPIN = PTD3; // Pin used for xbee TX.
gabdo 0:8681037b9a18 22 const PinName RXPIN = PTD2; // Pin used for xbee RX.
gabdo 0:8681037b9a18 23
gabdo 9:9e0d0ba5b6b1 24 // Sensor constants.
gabdo 9:9e0d0ba5b6b1 25 #define MMA8451_I2C_ADDRESS (0x1d<<1) // Address of I2C accelerometer.
gabdo 9:9e0d0ba5b6b1 26 const PinName ACCSDA = PTE25; // Pin for accelerometer SDA line.
gabdo 9:9e0d0ba5b6b1 27 const PinName ACCSCL = PTE24; // Pin for accelerometer SCL line.
gabdo 9:9e0d0ba5b6b1 28
gabdo 9:9e0d0ba5b6b1 29 // PID constants.
gabdo 9:9e0d0ba5b6b1 30 #define DEFAULT_WINDUP_GUARD 20.0f
dereklmc 6:21ae5e53bb5f 31
gabdo 0:8681037b9a18 32 class quadCommand
gabdo 0:8681037b9a18 33 {
gabdo 0:8681037b9a18 34 public:
gabdo 0:8681037b9a18 35 quadCommand(); // Constructor.
gabdo 0:8681037b9a18 36 void run(); // Loop.
gabdo 0:8681037b9a18 37 void rxInput(); // Deal with new input from xbee.
dereklmc 8:72791d8c36b7 38 void updateMotors();
gabdo 0:8681037b9a18 39
gabdo 0:8681037b9a18 40 private:
gabdo 0:8681037b9a18 41 motor *myMotors[4]; // Array of motor objects.
gabdo 0:8681037b9a18 42 com *myCom; // The com object.
gabdo 0:8681037b9a18 43 sensors *world; // Sensors used to observe the world.
gabdo 0:8681037b9a18 44
gabdo 1:9b90e7de6e09 45 float currentThrottle;
gabdo 1:9b90e7de6e09 46 float currentPitch;
gabdo 1:9b90e7de6e09 47 float currentRoll;
gabdo 1:9b90e7de6e09 48 float currentYaw;
gabdo 0:8681037b9a18 49
gabdo 1:9b90e7de6e09 50 float targetThrottle;
gabdo 1:9b90e7de6e09 51 float targetPitch;
gabdo 1:9b90e7de6e09 52 float targetRoll;
gabdo 1:9b90e7de6e09 53 float targetYaw;
dereklmc 6:21ae5e53bb5f 54
dereklmc 15:92ecb025fbc5 55 PID pidThrottle(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
dereklmc 6:21ae5e53bb5f 56 PID pidPitch(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
dereklmc 6:21ae5e53bb5f 57 PID pidRoll(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
dereklmc 6:21ae5e53bb5f 58 PID pidYaw(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
dereklmc 8:72791d8c36b7 59
dereklmc 8:72791d8c36b7 60 static const float MOTOR_UPDATE;
gabdo 0:8681037b9a18 61 };
gabdo 0:8681037b9a18 62
gabdo 0:8681037b9a18 63 #endif