casey/DroneReceiver
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version 1.1

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This commit is contained in:
cally22
2023-07-09 20:04:44 +02:00
parent c55b7fc4ed
commit 2547e14592
7 changed files with 42 additions and 40 deletions
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DRONE.cpp
+11 -11
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@@ -20,23 +20,23 @@ MotorGyro motorGyro[] = {
DRONE::DRONE() {
}
void DRONE::setPinESC(int pin, MotorPosition mp) {
void DRONE::setPinESC(int pin, MotorPosition mp, int speedOffset) {
switch (mp) {
case BR:
back_right.setMotorPosition(mp);
back_right.setPinESC(pin);
back_right.setPinESC(pin, speedOffset);
break;
case BL:
back_left.setMotorPosition(mp);
back_left.setPinESC(pin);
back_left.setPinESC(pin, speedOffset);
break;
case FR:
front_right.setMotorPosition(mp);
front_right.setPinESC(pin);
front_right.setPinESC(pin, speedOffset);
break;
case FL:
front_left.setMotorPosition(mp);
front_left.setPinESC(pin);
front_left.setPinESC(pin, speedOffset);
break;
}
}
@@ -73,10 +73,10 @@ void DRONE::decelerate() {
}
void DRONE::stop() {
back_right.setSpeed(1000);
back_left.setSpeed(1000);
front_left.setSpeed(1000);
front_right.setSpeed(1000);
back_right.stop();
back_left.stop();
front_left.stop();
front_right.stop();
}
String DRONE::getSpeedFromMotor(MotorPosition mp) {
@@ -112,7 +112,7 @@ void DRONE::updateMotors(float* mpuValues) {
float pitch = mpuValues[0];
float roll = mpuValues[1];
float threshold = 0.3;
float threshold = 0.5;
PitchRollStates pitchStatus = IDLE;
if (pitch < -threshold) {
@@ -128,7 +128,7 @@ void DRONE::updateMotors(float* mpuValues) {
rollStatus = PLUS;
}
// Serial.println("PS: " + String(pitchStatus) + " | RS: " + String(rollStatus));
Serial.println("PS: " + String(pitchStatus) + " | RS: " + String(rollStatus));
int numCond = sizeof(motorGyro) / sizeof(motorGyro[0]);
for (int i = 0; i < numCond; i++) {