Prosper Van / Mbed 2 deprecated quadCommand2

added gy80 dcm

Dependencies:   mbed DCM_AHRS_GY80 PID MMA8451Q

Fork of quadCommand by Greg Abdo

quadCommand/quadCommand.cpp@4:ce6ad16337c5, 2013-06-09 (annotated)

Committer:
gabdo
Date:
Sun Jun 09 22:59:11 2013 +0000
Revision:
4:ce6ad16337c5
Parent:
1:9b90e7de6e09
Child:
8:72791d8c36b7
None

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Who changed what in which revision?

UserRevisionLine numberNew contents of line
gabdo 0:8681037b9a18 1 /************************ quadCommand.cpp ********************************/
gabdo 0:8681037b9a18 2 /* */
gabdo 0:8681037b9a18 3 /*************************************************************************/
gabdo 0:8681037b9a18 4
gabdo 0:8681037b9a18 5 #include "quadCommand.h"
gabdo 0:8681037b9a18 6
gabdo 0:8681037b9a18 7 quadCommand::quadCommand()
gabdo 0:8681037b9a18 8 {
gabdo 0:8681037b9a18 9 myCom = new com( TXPIN, RXPIN ); // Setup com object.
gabdo 0:8681037b9a18 10 world = new sensors(); // Setup the sensors.
gabdo 0:8681037b9a18 11
gabdo 0:8681037b9a18 12 myMotors[0] = new motor( MOTOR1 ); // Connect motor 0 to PTD4 pin.
gabdo 0:8681037b9a18 13 myMotors[1] = new motor( MOTOR2 ); // Connect motor 1 to PTA12 pin.
gabdo 0:8681037b9a18 14 myMotors[2] = new motor( MOTOR3 ); // Connect motor 2 to PTA4 pin.
gabdo 0:8681037b9a18 15 myMotors[3] = new motor( MOTOR4 ); // Connect motor 3 to PTA5 pin.
gabdo 0:8681037b9a18 16
gabdo 0:8681037b9a18 17 rxThrottle = 0;
gabdo 0:8681037b9a18 18 rxPitch = 0;
gabdo 0:8681037b9a18 19 rxRoll = 0;
gabdo 0:8681037b9a18 20 rxYaw = 0;
gabdo 0:8681037b9a18 21 }
gabdo 0:8681037b9a18 22
gabdo 0:8681037b9a18 23 void quadCommand::run()
gabdo 0:8681037b9a18 24 {
gabdo 0:8681037b9a18 25 while(1)
gabdo 0:8681037b9a18 26 {
gabdo 0:8681037b9a18 27 if( myCom->isData() )
gabdo 0:8681037b9a18 28 rxInput();
gabdo 0:8681037b9a18 29 }
gabdo 0:8681037b9a18 30 }
gabdo 0:8681037b9a18 31
gabdo 0:8681037b9a18 32 void quadCommand::rxInput()
gabdo 0:8681037b9a18 33 {
gabdo 0:8681037b9a18 34 short * command = myCom->read();
gabdo 0:8681037b9a18 35
gabdo 0:8681037b9a18 36 if( command[0] == 1 ) // Throttle command.
gabdo 0:8681037b9a18 37 rxThrottle = command[1];
gabdo 0:8681037b9a18 38
gabdo 0:8681037b9a18 39 if( command[0] == 2 ) // Pitch command.
gabdo 0:8681037b9a18 40 rxPitch = command[1];
gabdo 0:8681037b9a18 41
gabdo 0:8681037b9a18 42 if( command[0] == 3 ) // Roll command.
gabdo 0:8681037b9a18 43 rxRoll = command[1];
gabdo 0:8681037b9a18 44
gabdo 0:8681037b9a18 45 if( command[0] == 4 ) // Yaw command.
gabdo 0:8681037b9a18 46 rxYaw = command[1];
gabdo 0:8681037b9a18 47
gabdo 0:8681037b9a18 48 myMotors[ 0 ]->setSpeed( rxThrottle + rxPitch - rxRoll ); // Motor 1
gabdo 0:8681037b9a18 49 myMotors[ 1 ]->setSpeed( rxThrottle + rxPitch + rxRoll ); // Motor 2
gabdo 0:8681037b9a18 50 myMotors[ 2 ]->setSpeed( rxThrottle - rxPitch + rxRoll ); // Motor 3
gabdo 0:8681037b9a18 51 myMotors[ 3 ]->setSpeed( rxThrottle - rxPitch - rxRoll ); // Motor 4
gabdo 0:8681037b9a18 52
gabdo 0:8681037b9a18 53 delete[] command;
gabdo 0:8681037b9a18 54 }