Oskar Weigl / Mbed 2 deprecated Quadcopter_copy

Very early flyable code.

Dependencies:   mbed RF12B

motors.h@0:9fcb3bf5c231, 2011-10-01 (annotated)

Committer:
madcowswe
Date:
Sat Oct 01 12:57:23 2011 +0000
Revision:
0:9fcb3bf5c231
This edit is for testing: not flyable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 0:9fcb3bf5c231 1
madcowswe 0:9fcb3bf5c231 2 void initmotor() {
madcowswe 0:9fcb3bf5c231 3 PWMleft.period_ms(20);
madcowswe 0:9fcb3bf5c231 4 PWMleft = 0.01;
madcowswe 0:9fcb3bf5c231 5 PWMright.period_ms(20);
madcowswe 0:9fcb3bf5c231 6 PWMright = 0.01;
madcowswe 0:9fcb3bf5c231 7
madcowswe 0:9fcb3bf5c231 8 PWMfront.period_ms(20);
madcowswe 0:9fcb3bf5c231 9 PWMfront = 0.01;
madcowswe 0:9fcb3bf5c231 10 PWMrear.period_ms(20);
madcowswe 0:9fcb3bf5c231 11 PWMrear = 0.01;
madcowswe 0:9fcb3bf5c231 12 }
madcowswe 0:9fcb3bf5c231 13
madcowswe 0:9fcb3bf5c231 14 bool leftM(float thrust) {
madcowswe 0:9fcb3bf5c231 15 float output = (634 + 0.657 * thrust) / 10000;
madcowswe 0:9fcb3bf5c231 16 if (output > 0.0910) {
madcowswe 0:9fcb3bf5c231 17 PWMleft = 0.0910;
madcowswe 0:9fcb3bf5c231 18 return true;
madcowswe 0:9fcb3bf5c231 19 } else {
madcowswe 0:9fcb3bf5c231 20 PWMleft = output;
madcowswe 0:9fcb3bf5c231 21 return false;
madcowswe 0:9fcb3bf5c231 22 }
madcowswe 0:9fcb3bf5c231 23 }
madcowswe 0:9fcb3bf5c231 24
madcowswe 0:9fcb3bf5c231 25 bool rightM(float thrust) {
madcowswe 0:9fcb3bf5c231 26 float output = (617 + 0.474 * thrust) / 10000;
madcowswe 0:9fcb3bf5c231 27 if (output > 0.0822) {
madcowswe 0:9fcb3bf5c231 28 PWMright = 0.0822;
madcowswe 0:9fcb3bf5c231 29 return true;
madcowswe 0:9fcb3bf5c231 30 } else {
madcowswe 0:9fcb3bf5c231 31 PWMright = output;
madcowswe 0:9fcb3bf5c231 32 return false;
madcowswe 0:9fcb3bf5c231 33 }
madcowswe 0:9fcb3bf5c231 34 }
madcowswe 0:9fcb3bf5c231 35
madcowswe 0:9fcb3bf5c231 36 bool frontM(float thrust) {
madcowswe 0:9fcb3bf5c231 37 float output = (637 + 0.509 * thrust) / 10000;
madcowswe 0:9fcb3bf5c231 38 if (output > 0.0880) {
madcowswe 0:9fcb3bf5c231 39 PWMfront = 0.0800;
madcowswe 0:9fcb3bf5c231 40 return true;
madcowswe 0:9fcb3bf5c231 41 } else {
madcowswe 0:9fcb3bf5c231 42 PWMfront = output;
madcowswe 0:9fcb3bf5c231 43 return false;
madcowswe 0:9fcb3bf5c231 44 }
madcowswe 0:9fcb3bf5c231 45 }
madcowswe 0:9fcb3bf5c231 46
madcowswe 0:9fcb3bf5c231 47 bool rearM(float thrust) {
madcowswe 0:9fcb3bf5c231 48 float output = (644 + 0.470 * thrust) / 10000;
madcowswe 0:9fcb3bf5c231 49 if (output > 0.0908) {
madcowswe 0:9fcb3bf5c231 50 PWMrear = 0.0908;
madcowswe 0:9fcb3bf5c231 51 return true;
madcowswe 0:9fcb3bf5c231 52 } else {
madcowswe 0:9fcb3bf5c231 53 PWMrear = output;
madcowswe 0:9fcb3bf5c231 54 return false;
madcowswe 0:9fcb3bf5c231 55 }
madcowswe 0:9fcb3bf5c231 56 }