Diff: Mixer/Mixer.cpp

Revision:

7:fb6174d2ea78

Parent:

2:54fabc943f25

--- a/Mixer/Mixer.cpp	Wed Oct 31 01:04:12 2018 +0000
+++ b/Mixer/Mixer.cpp	Mon Nov 05 11:12:11 2018 +0000
@@ -4,22 +4,22 @@
 #include "Library.h"
 
 //Declare motors as PWM outputs
-PwmOut motor[4] = {(PA_1),(PB_11),(PA_15),(PB_9_ALT1)};
+//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) //para rodar comando serial é necessario comentar essa linha
 {
 }
-
+*/
 void Mixer :: actuate ( float f_t , float tau_phi , float tau_theta , float tau_psi )
 {
-    
+
     // Define parameters
     float const alpha = 1.081e-7;
     float const beta = 2.678e-11;
-    
+
     //calcula as velocidades angulares conforme a relacao entre toque e forca e velocidade angular
-    w1 = ((1/(4*kl))* f_t) - ((1/(4*kl*l))* tau_phi) - ((1/(4*kl))* tau_theta) - ((1/(4*kd))* tau_psi)  ;
+    w1 = ((1/(4*kl))* f_t) - ((1/(4*kl*l))* tau_phi) - ((1/(4*kl))* tau_theta) - ((1/(4*kd))* tau_psi) ;
     w2 = ((1/(4*kl))* f_t) - ((1/(4*kl*l))* tau_phi) + ((1/(4*kl*l))* tau_theta) + ((1/(4*kd))* tau_psi);
     w3 = ((1/(4*kl))* f_t) + ((1/(4*kl*l))* tau_phi) + ((1/(4*kl*l))* tau_theta) - ((1/(4*kd))* tau_psi);
     w4 = ((1/(4*kl))* f_t) + ((1/(4*kl*l))* tau_phi) - ((1/(4*kl*l))* tau_theta) + ((1/(4*kd))* tau_psi);
@@ -44,11 +44,10 @@
     w4 = sqrt(w4);
 
     // Turn on all motors for 5s
-    motor [0] = alpha *pow(w1 ,2) + beta * w1;
-    motor [1] = alpha *pow(w2 ,2) + beta * w2;
-    motor [2] = alpha *pow(w3 ,2) + beta * w3;
-    motor [3] = alpha *pow(w4 ,2) + beta * w4;
-    
+    motor_1 = alpha *pow(w1 ,2) + beta * w1;
+    motor_2 = alpha *pow(w2 ,2) + beta * w2;
+    motor_3 = alpha *pow(w3 ,2) + beta * w3;
+    motor_4 = alpha *pow(w4 ,2) + beta * w4;
 
 }