Diff: quadCommand/quadCommand.h

Revision:

52:24590a45b807

Parent:

51:60258b84ebab

Child:

53:cce34958f952

diff -r 60258b84ebab -r 24590a45b807 quadCommand/quadCommand.h
--- a/quadCommand/quadCommand.h	Mon Jun 10 05:57:47 2013 +0000
+++ b/quadCommand/quadCommand.h	Tue Jun 11 01:24:31 2013 +0000
@@ -28,12 +28,11 @@
 #define MMA8451_I2C_ADDRESS (0x1d<<1)   // Address of I2C accelerometer.
 #define ACCSDA              PTE25       // Pin for accelerometer SDA line.
 #define ACCSCL              PTE24       // Pin for accelerometer SCL line.
-#define SENSSOR_DELAY       500.0f
-#define SEND_DELAY          500.0f
+#define SENSSOR_DELAY       100.0f
 
 // PID constants.
 #define DEFAULT_WINDUP_GUARD 20.0f
-#define MOTOR_UPDATE        500.0f
+#define MOTOR_UPDATE        100.0f
 
 class quadCommand 
 {
@@ -55,8 +54,6 @@
         PID pidRoll;            // PID for roll.
         PID pidYaw;             // PID for yaw.
         
-        bool txValues;
-        
         Ticker sensorProcess;   // Timer for getting sensor data.
         Ticker motorProcess;    // Timer for updating the motors.
         Ticker sendProcess;     // Timer for sending data through the Xbee.