Diff: quadCommand/quadCommand.h

Revision:

50:197a18e49eb4

Parent:

49:f202fb0d4128

Child:

51:60258b84ebab

--- a/quadCommand/quadCommand.h	Mon Jun 10 04:43:30 2013 +0000
+++ b/quadCommand/quadCommand.h	Mon Jun 10 05:04:53 2013 +0000
@@ -12,29 +12,27 @@
 #include "PID.h"
 
 // Motor constants.
-const PinName MOTOR1    =   PTD4;   // Pin used for motor 1.
-const PinName MOTOR2    =   PTA12;  // Pin used for motor 2.
-const PinName MOTOR3    =   PTA4;   // Pin used for motor 3.
-const PinName MOTOR4    =   PTA5;   // Pin used for motor 4.
+#define MOTOR1              PTD4        // Pin used for motor 1.
+#define MOTOR2              PTA12       // Pin used for motor 2.
+#define MOTOR3              PTA4        // Pin used for motor 3.
+#define MOTOR4              PTA5        // Pin used for motor 4.
 
 // Xbee constants.
 // Alternative Pins 
 //  RX = PTA1,  TX PTA2
-const PinName TXPIN     =   PTD3;   // Pin used for xbee TX.
-const PinName RXPIN     =   PTD2;   // Pin used for xbee RX.
+#define TXPIN               PTD3        // Pin used for xbee TX.
+#define RXPIN               PTD2        // Pin used for xbee RX.
 
 
 // Sensor constants.
 #define MMA8451_I2C_ADDRESS (0x1d<<1)   // Address of I2C accelerometer.
-const PinName ACCSDA    =   PTE25;  // Pin for accelerometer SDA line.
-const PinName ACCSCL    =   PTE24;  // Pin for accelerometer SCL line.
-
-#define SENSSORDELAY    10.0f
-#define SENDDELAY       10.0f
+#define ACCSDA              PTE25       // Pin for accelerometer SDA line.
+#define ACCSCL              PTE24       // Pin for accelerometer SCL line.
+#define SENSSOR_DELAY       500.0f
 
 // PID constants.
 #define DEFAULT_WINDUP_GUARD 20.0f
-#define MOTOR_UPDATE    10.0f
+#define MOTOR_UPDATE        500.0f
 
 class quadCommand 
 {
@@ -48,27 +46,26 @@
         
     private:
         motor *myMotors[4];     // Array of motor objects.
-        com *myCom;             // The com object.
+        com *myCom;             // The com object for Xbee communication.
         sensors *world;         // Sensors used to observe the world.
         
-        Ticker sensorProcess;
-        Ticker sendProcess;
-        Ticker motorProcess;    // Control timer
+        PID pidThrottle;        // PID for throttle.
+        PID pidPitch;           // PID for pitch.
+        PID pidRoll;            // PID for roll.
+        PID pidYaw;             // PID for yaw.
         
-        float currentThrottle;
-        float currentPitch;
-        float currentRoll;
-        float currentYaw;
+        Ticker sensorProcess;   // Timer for getting sensor data.
+        Ticker motorProcess;    // Timer for updating the motors.
         
-        float targetThrottle;
-        float targetPitch;
-        float targetRoll;
-        float targetYaw;
+        float currentThrottle;  // Current throttle.
+        float currentPitch;     // Current pitch.
+        float currentRoll;      // Current roll.
+        float currentYaw;       // Current yaw.
         
-        PID pidThrottle;
-        PID pidPitch;
-        PID pidRoll;
-        PID pidYaw;
+        float targetThrottle;   // Desired throttle.
+        float targetPitch;      // Desired pitch.
+        float targetRoll;       // Desired roll.
+        float targetYaw;        // Desired yaw.
 };
 
 #endif
\ No newline at end of file