File content as of revision 0:9fcb3bf5c231:

void initmotor() {
    PWMleft.period_ms(20);
    PWMleft = 0.01;
    PWMright.period_ms(20);
    PWMright = 0.01;

    PWMfront.period_ms(20);
    PWMfront = 0.01;
    PWMrear.period_ms(20);
    PWMrear = 0.01;
}

bool leftM(float thrust) {
    float output = (634 + 0.657 * thrust) / 10000;
    if (output > 0.0910) {
        PWMleft = 0.0910;
        return true;
    } else {
        PWMleft = output;
        return false;
    }
}

bool rightM(float thrust) {
    float output = (617 + 0.474 * thrust) / 10000;
        if (output > 0.0822) {
        PWMright = 0.0822;
        return true;
    } else {
        PWMright = output;
        return false;
    }
}

bool frontM(float thrust) {
    float output = (637 + 0.509 * thrust) / 10000;
        if (output > 0.0880) {
        PWMfront = 0.0800;
        return true;
    } else {
        PWMfront = output;
        return false;
    }
}

bool rearM(float thrust) {
    float output = (644 + 0.470 * thrust) / 10000;
        if (output > 0.0908) {
        PWMrear = 0.0908;
        return true;
    } else {
        PWMrear = output;
        return false;
    }
}