Yves Yuzo Sakamoto / CrazyflieController

Crazyflie 2.0 controller

Dependents:   Drones-Controlador

Mixer/Mixer.h@0:3871dc7bedf7, 2018-10-10 (annotated)

Committer:
yvesyuzo
Date:
Wed Oct 10 11:13:07 2018 +0000
Revision:
0:3871dc7bedf7
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yvesyuzo 0:3871dc7bedf7 1 #ifndef Mixer_h
yvesyuzo 0:3871dc7bedf7 2 #define Mixer_h
yvesyuzo 0:3871dc7bedf7 3
yvesyuzo 0:3871dc7bedf7 4 #include "mbed.h"
yvesyuzo 0:3871dc7bedf7 5 #include "Library.h"
yvesyuzo 0:3871dc7bedf7 6
yvesyuzo 0:3871dc7bedf7 7 /*
yvesyuzo 0:3871dc7bedf7 8 const float alpha = 1.081E-7;
yvesyuzo 0:3871dc7bedf7 9 const float beta = 2.678E-11;
yvesyuzo 0:3871dc7bedf7 10 const float kl = 2.69E-8;
yvesyuzo 0:3871dc7bedf7 11 const float kd = 1.59E-10;
yvesyuzo 0:3871dc7bedf7 12 const float l = 33E-3;
yvesyuzo 0:3871dc7bedf7 13 */
yvesyuzo 0:3871dc7bedf7 14
yvesyuzo 0:3871dc7bedf7 15
yvesyuzo 0:3871dc7bedf7 16 class Mixer
yvesyuzo 0:3871dc7bedf7 17 {
yvesyuzo 0:3871dc7bedf7 18 public:
yvesyuzo 0:3871dc7bedf7 19 //class constructor
yvesyuzo 0:3871dc7bedf7 20 Mixer();
yvesyuzo 0:3871dc7bedf7 21
yvesyuzo 0:3871dc7bedf7 22 void actuate ( float f_t , float tau_phi , float tau_theta , float tau_psi ) ;
yvesyuzo 0:3871dc7bedf7 23 private:
yvesyuzo 0:3871dc7bedf7 24
yvesyuzo 0:3871dc7bedf7 25 PwmOut motor_1 , motor_2 , motor_3 , motor_4 ;
yvesyuzo 0:3871dc7bedf7 26
yvesyuzo 0:3871dc7bedf7 27 float w1 , w2 , w3 , w4 ;
yvesyuzo 0:3871dc7bedf7 28 };
yvesyuzo 0:3871dc7bedf7 29
yvesyuzo 0:3871dc7bedf7 30 # endif
yvesyuzo 0:3871dc7bedf7 31
yvesyuzo 0:3871dc7bedf7 32
yvesyuzo 0:3871dc7bedf7 33
yvesyuzo 0:3871dc7bedf7 34
yvesyuzo 0:3871dc7bedf7 35