File content as of revision 49:f202fb0d4128:

/************************ quadCommand.cpp ********************************/
/*                                                                       */
/*************************************************************************/

#include "quadCommand.h"
#include "debug.h"

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)
{
        motorProcess.attach(this, &quadCommand::updateMotors, MOTOR_UPDATE/1000);
        sensorProcess.attach( this, &quadCommand::updateCurrent, SENSSORDELAY/1000 );
        sendProcess.attach( this, &quadCommand::sendTelemetry, SENDDELAY/1000 );

        
        myCom = new com( TXPIN, RXPIN );        // Setup com object.       
        world = new sensors();                  // Setup the sensors.
        
        myMotors[0] = new motor( MOTOR1 );      // Connect motor 0 to PTD4 pin.
        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.
        
        targetThrottle  = currentThrottle   = 0;
        targetPitch     = currentPitch      = 0;
        targetRoll      = currentRoll       = 0;
        targetYaw       = currentYaw        = 0;
}

/******************************* run() ***********************************/
/* Called from main                                                      */
/*************************************************************************/

void quadCommand::run() 
{   
    while(1)
    {     
        if( myCom->isData() ) 
            rxInput();
    }
}

/***************************** rxInput() *********************************/
/*Call from run()                                                        */
/*************************************************************************/

void quadCommand::rxInput()
{
    short * command = myCom->read();
            
    if( command[0] == 1 )       // Throttle command.
        targetThrottle = command[1];
                
    if( command[0] == 2 )       // Pitch command.
        targetPitch = command[1];
                
    if( command[0] == 3 )       // Roll command.
        targetRoll = command[1];            
            
     if( command[0] == 4 )      // Yaw command.
        targetYaw = command[1];
        
     delete[] command;
}

/*************************** updateMotors() ******************************/
/*Called in main by motorprocess                                         */
/*************************************************************************/

void quadCommand::updateMotors() 
{
    float throttle, pitch, roll, yaw;
    
    throttle = pidThrottle.correct(currentThrottle, targetThrottle, MOTOR_UPDATE);
    pitch = pidPitch.correct(currentPitch, targetPitch, MOTOR_UPDATE);
    roll = pidRoll.correct(currentRoll, targetRoll, MOTOR_UPDATE);
    yaw = 0.0; //pidYaw.correct(currentYaw, targetYaw, MOTOR_UPDATE);
    
    DEBUG(pc.printf("\r\n----------------------------------------\r\n");)
    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("\r\n----------------------------------------\r\n");)

    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);)
    
    myMotors[ 0 ]->setSpeed(speed0);    // Motor 1
    myMotors[ 1 ]->setSpeed(speed1);    // Motor 2
    myMotors[ 2 ]->setSpeed(speed2);    // Motor 3
    myMotors[ 3 ]->setSpeed(speed3);    // Motor 4
}

/**************************** sendData() *********************************/
/*                                                                       */
/*************************************************************************/

void quadCommand::sendTelemetry()
{
    myCom->write( 2, (short)(currentPitch * 900 / 10 ) );
    myCom->write( 3, (short)(currentRoll * 900 / 10 ) );
}

/************************** updateCurrent() ******************************/
/*                                                                       */
/*************************************************************************/

void quadCommand::updateCurrent()
{
    currentPitch    = world->getAbsoluteX();
    currentRoll     = world->getAbsoluteY();
}