Prosper Van
/
quadCommand2
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Dependencies: mbed DCM_AHRS_GY80 PID MMA8451Q
Fork of
quadCommand
by 
Greg Abdo
Revision 1:9b90e7de6e09, committed 2013-06-09
- Comitter:
- gabdo
- Date:
- Sun Jun 09 22:33:11 2013 +0000
- Parent:
- 0:8681037b9a18
- Child:
- 3:3448cc00eb85
- Child:
- 4:ce6ad16337c5
- Commit message:
- Updated quadCommand vars
;
Changed in this revision
--- a/quadCommand/quadCommand.cpp Sun Jun 09 22:13:59 2013 +0000
+++ b/quadCommand/quadCommand.cpp Sun Jun 09 22:33:11 2013 +0000
@@ -26,12 +26,13 @@
{
if( myCom->isData() )
rxInput();
-
- //myCom->write( 3, world->getAbsoluteY());
- updatePosition();
+
+ myCom->write( 3, world->getAbsoluteY());
+ wait( .05);
+ //updatePosition();
- if( globalUpdate )
- txPosition();
+ // if( globalUpdate )
+ // txPosition();
}
}
--- a/quadCommand/quadCommand.h Sun Jun 09 22:13:59 2013 +0000
+++ b/quadCommand/quadCommand.h Sun Jun 09 22:33:11 2013 +0000
@@ -31,22 +31,16 @@
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;
+ float currentThrottle;
+ float currentPitch;
+ float currentRoll;
+ float currentYaw;
- short currentRoll; //
- bool updatedRoll;
-
- short currentAlt; //
- bool updatedAlt;
+ float targetThrottle;
+ float targetPitch;
+ float targetRoll;
+ float targetYaw;
};
#endif
\ No newline at end of file
--- a/quadCommand/sensorS/sensors.cpp Sun Jun 09 22:13:59 2013 +0000
+++ b/quadCommand/sensorS/sensors.cpp Sun Jun 09 22:33:11 2013 +0000
@@ -11,10 +11,10 @@
short sensors::getAbsoluteX()
{
- return (short)(acc->getAccX() * 100);
+ return (short)(acc->getAccX() * 10);
}
short sensors::getAbsoluteY()
{
- return (short)(acc->getAccY() * 100);
+ return (short)(acc->getAccY() * 10);
}
\ No newline at end of file
--- a/quadCommand/sensorS/sensors.h Sun Jun 09 22:13:59 2013 +0000
+++ b/quadCommand/sensorS/sensors.h Sun Jun 09 22:33:11 2013 +0000
@@ -20,5 +20,21 @@
private:
MMA8451Q *acc;
+
+ 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
\ No newline at end of file