quadro::aeronautics Class Reference

#include <aeronautics.h>

Public Member Functions
	aeronautics ()
void	maintainAltitude ()
void	maintainHeading ()
void	maintainRoll (double _duty_increment, float _roll)
void	maintainPitch (double _duty_increment, float _pitch)

Public Attributes
dji_2212 *	motor [4]

Constructor & Destructor Documentation

aeronautics::aeronautics

(

)

{

    motor[ 0 ] = new dji_2212( pinBlocks::BLOCK_P9,
            PWMPins::PIN_42 );

    motor[ 1 ] = new dji_2212( pinBlocks::BLOCK_P8,
            PWMPins::PIN_19 );

    motor[ 2 ] = new dji_2212( pinBlocks::BLOCK_P9,
            PWMPins::PIN_14 );

    motor[ 3 ] = new dji_2212( pinBlocks::BLOCK_P9,
            PWMPins::PIN_22 );
    //add additional motors here, specifying block and pin accordingly.

    motor[ 0 ]->init();
    motor[ 1 ]->init();
    motor[ 2 ]->init();
    motor[ 3 ]->init();

}

Member Function Documentation

void aeronautics::maintainAltitude

(

)

maintainAltitude() Allow the quadcopter to analyse current altitude related sensor readings against target settings and adjust motors accordingly

Parameters

none

Returns

none TODO: implement this method

{
//TODO: Plan here is to use Barometer, GPS and Sonic Sensor to maintain altitude
}

void aeronautics::maintainHeading

(

)

maintainHeading() Allow the quadcopter to analyse current heading readings against target settings and adjust motors accordingly

Parameters

none

Returns

none TODO: implement this method

{
//TODO: Plan here is to use Magnetometer and GPS readings to maintain heading
}

void aeronautics::maintainPitch	(	double	_duty_increment,
		float	_pitch
	)

maintainPitch() - Analyse target settings and adjust motors accordingly

Parameters

none
_pitch

Returns

none TODO: handle potential errors.

{

    if( _pitch < 0 ) {
        motor[ 0 ]->setTargetSpeed( long( motor[ 0 ]->currentDuty + _duty_increment ) ); //slow down
        motor[ 1 ]->setTargetSpeed( long( motor[ 1 ]->currentDuty + _duty_increment ) ); //slow down
        motor[ 2 ]->setTargetSpeed( long( motor[ 2 ]->currentDuty - _duty_increment ) ); //speed up
        motor[ 3 ]->setTargetSpeed( long( motor[ 3 ]->currentDuty - _duty_increment ) ); //speed up
    }
    else {
        motor[ 0 ]->setTargetSpeed( long( motor[ 0 ]->currentDuty - _duty_increment ) ); //speed up
        motor[ 1 ]->setTargetSpeed( long( motor[ 1 ]->currentDuty - _duty_increment ) ); //speed up
        motor[ 2 ]->setTargetSpeed( long( motor[ 2 ]->currentDuty + _duty_increment ) ); //slow down
        motor[ 3 ]->setTargetSpeed( long( motor[ 3 ]->currentDuty + _duty_increment ) ); //slow down
    }

//    printf( "   Current Pitch : \033[22;36m%7.2f \033[0m \t Increase Value :  \033[22;36m%7.2f \033[0m\n",
//            myOrientation->pitch, dutyIncreaseValue );

}

void aeronautics::maintainRoll	(	double	_duty_increment,
		float	_roll
	)

maintainRoll() - Analyse target settings and adjust motors accordingly

Parameters

_duty_increment
_roll

Returns

none TODO: handle potential errors.

{

    if( _roll < 0 ) {
        motor[ 0 ]->setTargetSpeed( long( motor[ 0 ]->currentDuty + _duty_increment ) ); //slow down
        motor[ 1 ]->setTargetSpeed( long( motor[ 3 ]->currentDuty + _duty_increment ) ); //slow down
        motor[ 2 ]->setTargetSpeed( long( motor[ 1 ]->currentDuty - _duty_increment ) ); //speed up
        motor[ 3 ]->setTargetSpeed( long( motor[ 2 ]->currentDuty - _duty_increment ) ); //speed up
    }
    else {
        motor[ 0 ]->setTargetSpeed( long( motor[ 0 ]->currentDuty - _duty_increment ) ); //speed up
        motor[ 1 ]->setTargetSpeed( long( motor[ 3 ]->currentDuty - _duty_increment ) ); //speed up
        motor[ 2 ]->setTargetSpeed( long( motor[ 1 ]->currentDuty + _duty_increment ) ); //slow down
        motor[ 3 ]->setTargetSpeed( long( motor[ 2 ]->currentDuty + _duty_increment ) ); //slow down
    }

//    printf( "   Current Roll : \033[22;36m%7.2f \033[0m \t Increase Value :  \033[22;36m%7.2f \033[0m\n",
//            myOrientation->roll, dutyIncreaseValue );

}

Member Data Documentation

dji_2212* quadro::aeronautics::motor[4]

Four pointers for new DJI_2212 motors

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The documentation for this class was generated from the following files:

• /Users/michaelbrookes/ClionProjects/Quadro/lib/aeronautics/aeronautics.h
• /Users/michaelbrookes/ClionProjects/Quadro/lib/aeronautics/aeronautics.cpp