File content as of revision 0:8681037b9a18:

/************************* quadCommand.h *********************************/
/*                                                                       */
/*************************************************************************/

#ifndef QUAD_COMMAND_H
#define QUAD_COMMAND_H

#include "mbed.h"
#include "motor.h"
#include "com.h"
#include "sensors.h"

const PinName MOTOR1    =   PTD4;   // Pin used for motor 1.
const PinName MOTOR2    =   PTA12;  // Pin used for motor 2.
const PinName MOTOR3    =   PTA4;   // Pin used for motor 3.
const PinName MOTOR4    =   PTA5;   // Pin used for motor 4.

const PinName TXPIN     =   PTD3;   // Pin used for xbee TX.
const PinName RXPIN     =   PTD2;   // Pin used for xbee RX.

class quadCommand 
{
    public:
        quadCommand();          // Constructor.
        void run();             // Loop.
        void rxInput();         // Deal with new input from xbee.
        void updatePosition();  
        void txPosition();
    
    private:
        motor *myMotors[4];     // Array of motor objects.
        com *myCom;             // The com object.
        sensors *world;         // Sensors used to observe the world.
    
        short rxThrottle;       // Throttle position: 0 -> 100.
        short rxPitch;          // Pitch:   -180 -> 180.
        short rxRoll;           // Roll:    -180 -> 180.
        short rxYaw;            // Yaw:     -180 -> 180.
        
        bool globalUpdate;
        
        short currentPitch;     //
        bool updatedPitch;
        
        short currentRoll;      //
        bool updatedRoll;
        
        short currentAlt;       //
        bool updatedAlt;
};

#endif