Crazyflie 2.0 controller
Dependents: Drones-Controlador
Mixer/Mixer.h
- Committer:
- yvesyuzo
- Date:
- 2018-10-10
- Revision:
- 0:3871dc7bedf7
File content as of revision 0:3871dc7bedf7:
#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