Exemplo n.º 1
0
void QuaduinoFlight::init() {
	motorsActive = false;

	minPulseWidth = 1100;
	maxPulseWidth = 1600;
	gravityHover = 200;
	frontMotorOffset = 11;
	rearMotorOffset = 5;
	rightMotorOffset = 7;
	leftMotorOffset = 9;

	consKp = 0.3;
	consKi = 0.003;
	consKd = 0.192;

	aggKp = 0.93;
	aggKi = 0.1;
	aggKd = 0.2;

	angleToSwap = 15;

        writeMotor(FRONT, 0);
        writeMotor(RIGHT, 0);
        writeMotor(REAR, 0);
        writeMotor(LEFT, 0);

	yawPID = &PID(&yawInput, &yawOutput, &yawSetpoint, 4.0, 0.0, 0.0, DIRECT);
	pitchPID = &PID(&pitchInput, &pitchOutput, &pitchSetpoint, 4.0, 0.0, 0.0, DIRECT);
	rollPID = &PID(&rollInput, &rollOutput, &rollSetpoint, 4.0, 0.0, 0.0, DIRECT);

	setupPidControl();
}
Exemplo n.º 2
0
void QuaduinoFlight::runMotorsMax() {
    // set all motors to maximum pulse width (highest speed)
    writeMotor(FRONT, maxPulseWidth);
    writeMotor(RIGHT, maxPulseWidth);
    writeMotor(REAR, maxPulseWidth);
    writeMotor(LEFT, maxPulseWidth);
}
Exemplo n.º 3
0
void QuaduinoFlight::runMotorsMin() {
    // set all motors to minimum pulse width (lowest speed)
    writeMotor(FRONT, minPulseWidth);
    writeMotor(RIGHT, minPulseWidth);
    writeMotor(REAR, minPulseWidth);
    writeMotor(LEFT, minPulseWidth);
}
Exemplo n.º 4
0
bool Motor::setStopCommand(enum StopCommand cmd)
{
	size_t len;
	bool retval = false;
	const char *cmdstr;

	if (!isStopCommandSupported(cmd))
		return retval;
	cmdstr = stopCommandNames[cmd];
	len = strlen(cmdstr);
	retval = writeMotor("stop_command", cmdstr, len);
	if (!retval)
		return retval;
	stop_command = cmd;
	return retval;
}
Exemplo n.º 5
0
bool Motor::setSpeedRegulation(bool value)
{
	char truebuf[] = SPEED_REGULATION_TRUE;
	char falsebuf[] = SPEED_REGULATION_FALSE;
	char *buf;
	unsigned int len;
	bool retval;

	if (value) {
		buf = truebuf;
		len = sizeof(truebuf);
	} else {
		buf = falsebuf;
		len = sizeof(falsebuf);
	}
	len--; /* We don't need to write the null character */
	retval = writeMotor("speed_regulation", buf, len);
	if (retval)
		speed_regulation = value;
	return retval;
}