controlador de atitude
Diff: Mixer/Mixer.cpp
- Revision:
- 2:54fabc943f25
- Parent:
- 0:3871dc7bedf7
- Child:
- 8:c96125e9ac70
diff -r 579511e9f0b8 -r 54fabc943f25 Mixer/Mixer.cpp --- 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;