Diff: quadCommand/quadCommand.cpp

Revision:

8:72791d8c36b7

Parent:

4:ce6ad16337c5

Child:

9:9e0d0ba5b6b1

Child:

15:92ecb025fbc5

--- a/quadCommand/quadCommand.cpp	Sun Jun 09 23:08:43 2013 +0000
+++ b/quadCommand/quadCommand.cpp	Sun Jun 09 23:36:31 2013 +0000
@@ -4,6 +4,8 @@
 
 #include "quadCommand.h"
 
+const float quadCommand::MOTOR_UPDATE(20.0);
+
 quadCommand::quadCommand()
 {
         myCom = new com( TXPIN, RXPIN );        // Setup com object.       
@@ -43,12 +45,14 @@
         rxRoll = command[1];            
             
      if( command[0] == 4 )      // Yaw command.
-        rxYaw = command[1];           
-            
-     myMotors[ 0 ]->setSpeed( rxThrottle + rxPitch - rxRoll );    // Motor 1
-     myMotors[ 1 ]->setSpeed( rxThrottle + rxPitch + rxRoll );    // Motor 2
-     myMotors[ 2 ]->setSpeed( rxThrottle - rxPitch + rxRoll );    // Motor 3
-     myMotors[ 3 ]->setSpeed( rxThrottle - rxPitch - rxRoll );    // Motor 4
+        rxYaw = command[1];
+}
+
+void quadCommand::updateMotors() {
+     myMotors[ 0 ]->setSpeed( rxThrottle + rxPitch - rxRoll - rxYaw);    // Motor 1
+     myMotors[ 1 ]->setSpeed( rxThrottle + rxPitch + rxRoll + rxYaw);    // Motor 2
+     myMotors[ 2 ]->setSpeed( rxThrottle - rxPitch + rxRoll - rxYaw);    // Motor 3
+     myMotors[ 3 ]->setSpeed( rxThrottle - rxPitch - rxRoll + rxYaw);    // Motor 4
                          
      delete[] command;
 }
\ No newline at end of file