Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task4.cpp@3:605fbcb54e75, 2014-04-29 (annotated)

Committer:
pHysiX
Date:
Tue Apr 29 14:53:32 2014 +0000
Revision:
3:605fbcb54e75
Parent:
2:ab967d7b4346
Child:
5:4879ef0e6d41
Fully implemented system. Need to test stability of RTOS, and to make sure that values are correct. ; Rate Mode only.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 2:ab967d7b4346 1 /* Update ESC */
pHysiX 2:ab967d7b4346 2 /* 200Hz <= PWM frequency <= 400Hz */
pHysiX 2:ab967d7b4346 3
pHysiX 1:43f8ac7ca6d7 4 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 5 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 6
pHysiX 2:ab967d7b4346 7 int ESCpower[4] = {0, 0, 0, 0};
pHysiX 2:ab967d7b4346 8
pHysiX 1:43f8ac7ca6d7 9 void Task4(void const *argurment)
pHysiX 1:43f8ac7ca6d7 10 {
pHysiX 3:605fbcb54e75 11 /* [YAW PITCH ROLL THROTTLE AUX] */
pHysiX 3:605fbcb54e75 12 ESCpower[0] = RCCommand[3] + (pitch_adjust / 2) - (roll_adjust / 2) + (yaw_adjust / 2);
pHysiX 3:605fbcb54e75 13 ESCpower[1] = RCCommand[3] + (pitch_adjust / 2) + (roll_adjust / 2) - (yaw_adjust / 2);
pHysiX 3:605fbcb54e75 14 ESCpower[2] = RCCommand[3] - (pitch_adjust / 2) + (roll_adjust / 2) + (yaw_adjust / 2);
pHysiX 3:605fbcb54e75 15 ESCpower[3] = RCCommand[3] - (pitch_adjust / 2) - (roll_adjust / 2) - (yaw_adjust / 2);
pHysiX 2:ab967d7b4346 16
pHysiX 3:605fbcb54e75 17 //BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
pHysiX 3:605fbcb54e75 18
pHysiX 3:605fbcb54e75 19 for (int i = 0; i < 4; i++)
pHysiX 3:605fbcb54e75 20 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 3:605fbcb54e75 21
pHysiX 2:ab967d7b4346 22 //LED[4] = !LED[4];
pHysiX 1:43f8ac7ca6d7 23 }