Diff: quadCommand/quadCommand.cpp

Revision:

9:9e0d0ba5b6b1

Parent:

8:72791d8c36b7

Child:

12:15d129d681e9

Child:

16:84c7db5b4464

diff -r 72791d8c36b7 -r 9e0d0ba5b6b1 quadCommand/quadCommand.cpp
--- a/quadCommand/quadCommand.cpp	Sun Jun 09 23:36:31 2013 +0000
+++ b/quadCommand/quadCommand.cpp	Sun Jun 09 23:56:44 2013 +0000
@@ -22,6 +22,10 @@
         rxYaw         = 0;
 }
 
+/******************************* run() ***********************************/
+/*                                                                       */
+/*************************************************************************/
+
 void quadCommand::run() 
 {   
     while(1)
@@ -31,23 +35,31 @@
     }
 }
 
+/***************************** rxInput() *********************************/
+/*                                                                       */
+/*************************************************************************/
+
 void quadCommand::rxInput()
 {
     short * command = myCom->read();
             
     if( command[0] == 1 )       // Throttle command.
-        rxThrottle = command[1];
+        targetThrottle = command[1];
                 
     if( command[0] == 2 )       // Pitch command.
-        rxPitch = command[1];
+        targetPitch = command[1];
                 
     if( command[0] == 3 )       // Roll command.
-        rxRoll = command[1];            
+        targetRoll = command[1];            
             
      if( command[0] == 4 )      // Yaw command.
-        rxYaw = command[1];
+        targetYaw = command[1];
 }
 
+/*************************** updateMotors() ******************************/
+/*                                                                       */
+/*************************************************************************/
+
 void quadCommand::updateMotors() {
      myMotors[ 0 ]->setSpeed( rxThrottle + rxPitch - rxRoll - rxYaw);    // Motor 1
      myMotors[ 1 ]->setSpeed( rxThrottle + rxPitch + rxRoll + rxYaw);    // Motor 2