Diff: quadCommand/quadCommand.h

Revision:

55:bca9c9e92da6

Parent:

53:cce34958f952

Child:

56:a550127695b2

--- a/quadCommand/quadCommand.h	Tue Jun 11 02:36:12 2013 +0000
+++ b/quadCommand/quadCommand.h	Thu Jun 13 01:11:03 2013 +0000
@@ -11,11 +11,13 @@
 #include "sensors.h"
 #include "PID.h"
 
+#define TRIM_VALUE .05
+
 // Motor constants.
 #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.
+#define MOTOR4              PTC8        // Pin used for motor 4.
 
 // Xbee constants.
 // Alternative Pins 
@@ -28,11 +30,13 @@
 #define MMA8451_I2C_ADDRESS (0x1d<<1)   // Address of I2C accelerometer.
 #define ACCSDA              PTE25       // Pin for accelerometer SDA line.
 #define ACCSCL              PTE24       // Pin for accelerometer SCL line.
-#define SENSSOR_DELAY       100.0f
 
 // PID constants.
 #define DEFAULT_WINDUP_GUARD 20.0f
-#define MOTOR_UPDATE        100.0f
+#define PID_P 10.0
+#define PID_I 0.0
+#define PID_D 5.0
+#define MOTOR_UPDATE        50.0f
 
 class quadCommand 
 {
@@ -45,6 +49,8 @@
         void sendTelemetry();   // Transmit the current telemetry.
         
     private:
+        //Serial *pc; // tx, rx
+        
         motor *myMotors[4];     // Array of motor objects.
         com *myCom;             // The com object for Xbee communication.
         sensors *world;         // Sensors used to observe the world.
@@ -63,10 +69,13 @@
         float currentRoll;      // Current roll.
         float currentYaw;       // Current yaw.
         
+        float pitchTrim;
+        float rollTrim;
+        
         float targetThrottle;   // Desired throttle.
         float targetPitch;      // Desired pitch.
         float targetRoll;       // Desired roll.
-        float targetYaw;        // Desired yaw.
+        float targetYaw;        // Desired yaw. 
 };
 
 #endif
\ No newline at end of file