Diff: quadCommand/quadCommand.cpp

Revision:

46:f1eb22f41ebc

Parent:

43:e2fc699e8e8c

Child:

47:adc1a438aa33

--- a/quadCommand/quadCommand.cpp	Mon Jun 10 01:46:43 2013 +0000
+++ b/quadCommand/quadCommand.cpp	Mon Jun 10 02:10:19 2013 +0000
@@ -13,7 +13,6 @@
     pidRoll(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD),
     pidYaw(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD)
 {
-        Ticker sensorProcess;
         //sensorProcess.attach( this,&quadCommand::sendTelemetry, 2 );
         sensorProcess.attach( this, &quadCommand::updateCurrent, .002 );
         
@@ -74,12 +73,16 @@
     roll = pidRoll.correct(currentRoll, targetRoll, MOTOR_UPDATE);
     yaw = 0.0; //pidYaw.correct(currentYaw, targetYaw, MOTOR_UPDATE);
     
+    DEBUG(pc.printf("----------------------------------------");)
+    DEBUG(pc.printf("cur : { t : %f, p : %f, r : %f, y : %f }\r\n", currentThrottle, currentPitch, currentRoll, 0.0);)
+    DEBUG(pc.printf("tar : { t : %f, p : %f, r : %f, y : %f }\r\n", targetThrottle, targetPitch, targetRoll, 0.0);)
     DEBUG(pc.printf("att : { t : %f, p : %f, r : %f, y : %f }\r\n", throttle, pitch, roll, yaw);)
+    DEBUG(pc.printf("----------------------------------------");)
 
-    int speed0 = throttle + pitch - roll - yaw;
-    int speed1 = throttle + pitch + roll + yaw;
-    int speed2 = throttle - pitch + roll - yaw;
-    int speed3 = throttle - pitch - roll + yaw;
+    float speed0 = throttle + pitch - roll - yaw;
+    float speed1 = throttle + pitch + roll + yaw;
+    float speed2 = throttle - pitch + roll - yaw;
+    float speed3 = throttle - pitch - roll + yaw;
     
     DEBUG(pc.printf("motor : [ %f , %f , %f , %f ]\r\n", speed0, speed1, speed2, speed3);)