Yuri De Stefani / CrazyflieController

controlador de atitude

Diff: Mixer/Mixer.cpp

Revision:
2:54fabc943f25
Parent:
0:3871dc7bedf7
Child:
8:c96125e9ac70
--- a/Mixer/Mixer.cpp	Wed Oct 10 11:19:54 2018 +0000
+++ b/Mixer/Mixer.cpp	Tue Oct 16 21:57:19 2018 +0000
@@ -7,12 +7,10 @@
 PwmOut motor[4] = {(PA_1),(PB_11),(PA_15),(PB_9_ALT1)};
 
 // Class constructor
-Mixer :: Mixer () : motor_1 ( PA_1 ) , motor_2 ( PB_11 ) , motor_3 ( PA_15 ) , motor_4 (
-PB_9_ALT1 )
+Mixer :: Mixer () : motor_1 ( PA_1 ) , motor_2 ( PB_11 ) , motor_3 ( PA_15 ) , motor_4 (PB_9_ALT1 )
 {
 }
 
-
 void Mixer :: actuate ( float f_t , float tau_phi , float tau_theta , float tau_psi )
 {
     
@@ -44,10 +42,7 @@
     w2 = sqrt(w2);
     w3 = sqrt(w3);
     w4 = sqrt(w4);
-    
- 
-    
-        wait (5) ;
+
     // Turn on all motors for 5s
     motor [0] = alpha *pow(w1 ,2) + beta * w1;
     motor [1] = alpha *pow(w2 ,2) + beta * w2;