mixer.h File Reference

This file takes the output of the PID controller and assigns values to the motors. More...

Go to the source code of this file.

Macros
#define	PIDMIXFLIGHT(X, Y, Z, T)   (ratePID[ROLL] * (X) + ratePID[PITCH] * (Y) + eepromConfig.yawDirection * ratePID[YAW] * (Z) + throttleCmd * (T))
#define	PIDMIXROVER(X, T)   (steerCmd * (X) + speedCmd * (T))
#define	THROTTLE_DEADBAND   400
#define	THROTTLE_DEADBAND_SLOPE   ((4000 - THROTTLE_DEADBAND)/4000.0f)

Functions
void	pulseMotors (void)
	Pulses the motors. More...
void	mixTable (void)
	Mixes the values from the PID controller and assigns values to the motors. More...

Variables
uint8_t	numberMotor
uint16_t	throttleCmd
int16_t	steerCmd
int16_t	speedCmd
int16_t	motor_temp [4]

Detailed Description

This file takes the output of the PID controller and assigns values to the motors.

Author

Jeremy Wolfe

Date

07 MAR 2022

Macro Definition Documentation

PIDMIXFLIGHT

#define PIDMIXFLIGHT	(		X,
			Y,
			Z,
			T
	)		(ratePID[ROLL] * (X) + ratePID[PITCH] * (Y) + eepromConfig.yawDirection * ratePID[YAW] * (Z) + throttleCmd * (T))

PIDMIXROVER

#define PIDMIXROVER	(		X,
			T
	)		(steerCmd * (X) + speedCmd * (T))

THROTTLE_DEADBAND

#define THROTTLE_DEADBAND   400

THROTTLE_DEADBAND_SLOPE

#define THROTTLE_DEADBAND_SLOPE   ((4000 - THROTTLE_DEADBAND)/4000.0f)

Function Documentation

mixTable()

void mixTable

(

void

)

Mixes the values from the PID controller and assigns values to the motors.

Returns

Void.

pulseMotors()

void pulseMotors

(

void

)

Pulses the motors.

Returns

Void.

Variable Documentation

motor_temp

int16_t motor_temp[4]

extern

numberMotor

uint8_t numberMotor

extern

speedCmd

int16_t speedCmd

steerCmd

int16_t steerCmd

extern

throttleCmd

uint16_t throttleCmd

extern