Yuri De Stefani / CrazyflieController_final

programa final

Diff: Mixer/Mixer.h

Revision:
0:3871dc7bedf7
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Mixer/Mixer.h	Wed Oct 10 11:13:07 2018 +0000
@@ -0,0 +1,35 @@
+#ifndef Mixer_h
+#define Mixer_h
+
+#include "mbed.h"
+#include "Library.h"
+
+/*
+const float alpha = 1.081E-7;
+const float beta = 2.678E-11;
+const float kl = 2.69E-8;
+const float kd = 1.59E-10;
+const float l = 33E-3;
+*/
+
+
+class Mixer
+{
+    public:
+        //class constructor
+        Mixer();
+    
+        void actuate ( float f_t , float tau_phi , float tau_theta , float tau_psi ) ;
+    private:
+    
+    PwmOut motor_1 , motor_2 , motor_3 , motor_4 ;
+    
+    float w1 , w2 , w3 , w4 ;
+ };   
+    
+# endif
+
+
+
+
+