Yuri De Stefani / CrazyflieController_final

programa final

Mixer/Mixer.h

Committer:
yurindes
Date:
2018-11-30
Branch:
yuri
Revision:
8:1ad52489f6f3
Parent:
0:3871dc7bedf7

File content as of revision 8:1ad52489f6f3:

#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