Yuri De Stefani / CrazyflieController_final

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Show/hide line numbers Mixer.h Source File

Mixer.h

00001 #ifndef Mixer_h
00002 #define Mixer_h
00003 
00004 #include "mbed.h"
00005 #include "Library.h"
00006 
00007 /*
00008 const float alpha = 1.081E-7;
00009 const float beta = 2.678E-11;
00010 const float kl = 2.69E-8;
00011 const float kd = 1.59E-10;
00012 const float l = 33E-3;
00013 */
00014 
00015 
00016 class Mixer
00017 {
00018     public:
00019         //class constructor
00020         Mixer();
00021     
00022         void actuate ( float f_t , float tau_phi , float tau_theta , float tau_psi ) ;
00023     private:
00024     
00025     PwmOut motor_1 , motor_2 , motor_3 , motor_4 ;
00026     
00027     float w1 , w2 , w3 , w4 ;
00028  };   
00029     
00030 # endif
00031 
00032 
00033 
00034 
00035
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