Crazyflie 2.0 controller
Dependents: Drones-Controlador
Diff: Mixer/Mixer.h
- Revision:
- 0:3871dc7bedf7
diff -r 000000000000 -r 3871dc7bedf7 Mixer/Mixer.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Mixer/Mixer.h Wed Oct 10 11:13:07 2018 +0000 @@ -0,0 +1,35 @@ +#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 + + + + +