void QuaduinoFlight::killMotors(unsigned long *currentFrame, unsigned long startSeconds) {
unsigned long startFrame = startSeconds*74;
if(*currentFrame >= startFrame && allowAutonomy) {
runMotorsMin();
allowAutonomy = false;
motorsActive = false;
Serial.println("Killing motors. I hope you're on the ground.");
}
}
void QuaduinoFlight::runMotorsFullrangeGradual() {
int range = minPulseWidth;
bool increase = true;
runMotorsMin();
while(range <= maxPulseWidth && range >= minPulseWidth) {
if(increase) {
range++;
} else if (increase && range == maxPulseWidth) {
range--;
increase = false;
} else if(!increase) {
range--;
} else if(!increase && range == minPulseWidth) {
runMotorsAt(0);
break;
}
runMotorsAt(range);
}
}
void QuaduinoFlight::runMotorsFullrange() {
runMotorsMax();
delay(500);
runMotorsMin();
delay(500);
}
