controlador de atitude
Diff: Mixer/Mixer.cpp
- Branch:
- yuri
- Revision:
- 8:c96125e9ac70
- Parent:
- 2:54fabc943f25
--- a/Mixer/Mixer.cpp Wed Oct 17 12:18:29 2018 +0000 +++ b/Mixer/Mixer.cpp Wed Nov 21 10:07:00 2018 +0000 @@ -19,7 +19,7 @@ float const beta = 2.678e-11; //calcula as velocidades angulares conforme a relacao entre toque e forca e velocidade angular - w1 = ((1/(4*kl))* f_t) - ((1/(4*kl*l))* tau_phi) - ((1/(4*kl))* tau_theta) - ((1/(4*kd))* tau_psi) ; + w1 = ((1/(4*kl))* f_t) - ((1/(4*kl*l))* tau_phi) - ((1/(4*kl)) * tau_theta) - ((1/(4*kd))* tau_psi) ; w2 = ((1/(4*kl))* f_t) - ((1/(4*kl*l))* tau_phi) + ((1/(4*kl*l))* tau_theta) + ((1/(4*kd))* tau_psi); w3 = ((1/(4*kl))* f_t) + ((1/(4*kl*l))* tau_phi) + ((1/(4*kl*l))* tau_theta) - ((1/(4*kd))* tau_psi); w4 = ((1/(4*kl))* f_t) + ((1/(4*kl*l))* tau_phi) - ((1/(4*kl*l))* tau_theta) + ((1/(4*kd))* tau_psi); @@ -50,10 +50,4 @@ motor [3] = alpha *pow(w4 ,2) + beta * w4; -} - - - - - - +} \ No newline at end of file