Diff: quadCommand/quadCommand.cpp

Revision:

17:d73944c3c945

Parent:

16:84c7db5b4464

Child:

18:c7df2edd73f0

--- a/quadCommand/quadCommand.cpp	Mon Jun 10 00:04:56 2013 +0000
+++ b/quadCommand/quadCommand.cpp	Mon Jun 10 00:10:15 2013 +0000
@@ -6,7 +6,11 @@
 
 const float quadCommand::MOTOR_UPDATE(20.0f);
 
-quadCommand::quadCommand()
+quadCommand::quadCommand() :
+    pidThrottle(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD),
+    pidPitch(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD),
+    pidRoll(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD),
+    pidYaw(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD)
 {
         myCom = new com( TXPIN, RXPIN );        // Setup com object.       
         world = new sensors();                  // Setup the sensors.
@@ -15,11 +19,6 @@
         myMotors[1] = new motor( MOTOR2 );      // Connect motor 1 to PTA12 pin.
         myMotors[2] = new motor( MOTOR3 );      // Connect motor 2 to PTA4 pin.
         myMotors[3] = new motor( MOTOR4 );      // Connect motor 3 to PTA5 pin.
-        
-        rxThrottle    = 0;
-        rxPitch       = 0;
-        rxRoll        = 0;
-        rxYaw         = 0;
 }
 
 /******************************* run() ***********************************/
@@ -72,6 +71,4 @@
      myMotors[ 1 ]->setSpeed( throttle + pitch + roll + yaw);    // Motor 2
      myMotors[ 2 ]->setSpeed( throttle - pitch + roll - yaw);    // Motor 3
      myMotors[ 3 ]->setSpeed( throttle - pitch - roll + yaw);    // Motor 4
-                         
-     delete[] command;
 }
\ No newline at end of file