Diff: quadCommand/quadCommand.h

Revision:

49:f202fb0d4128

Parent:

48:75d06c707414

Child:

50:197a18e49eb4

--- a/quadCommand/quadCommand.h	Mon Jun 10 02:18:56 2013 +0000
+++ b/quadCommand/quadCommand.h	Mon Jun 10 04:43:30 2013 +0000
@@ -29,22 +29,22 @@
 const PinName ACCSDA    =   PTE25;  // Pin for accelerometer SDA line.
 const PinName ACCSCL    =   PTE24;  // Pin for accelerometer SCL line.
 
-const float SENSSORDELAY = .2;
+#define SENSSORDELAY    10.0f
+#define SENDDELAY       10.0f
 
 // PID constants.
-#define DEFAULT_WINDUP_GUARD 20.0f  
+#define DEFAULT_WINDUP_GUARD 20.0f
+#define MOTOR_UPDATE    10.0f
 
 class quadCommand 
 {
     public:
         quadCommand();          // Constructor.
-        void run();             // Loop.
-        void rxInput();         // Deal with new input from xbee.
-        void updateMotors();
-        void updateCurrent();
-        void sendTelemetry();
-         
-        static const float MOTOR_UPDATE;
+        void run();             // The main loop.
+        void rxInput();         // Receive data from the Xbee.
+        void updateMotors();    // Send PID values to the motors.
+        void updateCurrent();   // Update the current telemetry.
+        void sendTelemetry();   // Transmit the current telemetry.
         
     private:
         motor *myMotors[4];     // Array of motor objects.
@@ -52,6 +52,8 @@
         sensors *world;         // Sensors used to observe the world.
         
         Ticker sensorProcess;
+        Ticker sendProcess;
+        Ticker motorProcess;    // Control timer
         
         float currentThrottle;
         float currentPitch;