Montvydas Klumbys / Quadcopter

A library used for controlling a quadcopter. It provides an easy to use interface, which allows to mount, calibrate and run motors. It is also able to calibrate the actual speed according to calculated PID roll & pitch difference. I used the original Servo library as ESC modules use the same PWM signal as Servo motors.

Dependents:   QuadcopterProgram

Files at this revision

API Documentation at this revision

Revision 10:8147131fcebd, committed 2015-02-25

Comitter:
moklumbys
Date:
Wed Feb 25 10:42:36 2015 +0000
Parent:
9:22c52af13ac2
Commit message:
Added getters for lower & upper calibration limits.

Changed in this revision

Quadcopter.cpp Show annotated file Show diff for this revision Revisions of this file
Quadcopter.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Quadcopter.cpp	Wed Feb 25 00:55:08 2015 +0000
+++ b/Quadcopter.cpp	Wed Feb 25 10:42:36 2015 +0000
@@ -60,11 +60,11 @@
 float Quadcopter::map(float x, float in_min, float in_max, float out_min, float out_max){   //simply maps values in the given range
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
-
+//-------------------------------Functiuon for getting the lower calibration limit------------
 float Quadcopter::getLowerLimit(){
     return min_calibrate;
 }
-
+//----------------------------Function for getting upper calibration limit--------------------
 float Quadcopter::getUpperLimit(){
     return max_calibrate;
     

--- a/Quadcopter.h	Wed Feb 25 00:55:08 2015 +0000
+++ b/Quadcopter.h	Wed Feb 25 10:42:36 2015 +0000
@@ -81,7 +81,14 @@
     */
     void stabilise (float* speed, float* actSpeed, float rollDiff, float pitchDiff);
     
+    /**
+    * Function used to get the lower calibration limit.
+    */
     float getLowerLimit();
+    
+    /**
+    * Function used to get the upper calibration limit.
+    */
     float getUpperLimit();
 private: