Motor Speed Mixer

Takes the Base Speed and PID-Output and sets Motor Speed accordingly. More...

Files
file	set.h
	Motor Mixer Library Header.
file	set.c
	Motor Mixer Library Implementation.

Functions
void	setTask (void)
	Read the PID Output and Set the Motor Speeds. More...
void	setMotorSpeeds (uint8_t axis, uint8_t *vals)
	Set the Motor Speeds according to the SET_* Motor Position Constants. More...

Variables
uint8_t	baseSpeed
	Motor Base Speed. More...
uint8_t	baseSpeed = 0
	Motor Base Speed. More...

Detailed Description

Takes the Base Speed and PID-Output and sets Motor Speed accordingly.

Function Documentation

void setMotorSpeeds ( uint8_t  axis, uint8_t *  vals  )

inline

Set the Motor Speeds according to the SET_* Motor Position Constants.

Parameters

axis	ROLL or PITCH
vals	Speeds for the two Motors on this axis (+, -)

Definition at line 57 of file set.c.

References motorSet(), PITCH, ROLL, SET_PITCHMINUS, SET_PITCHPLUS, SET_ROLLMINUS, and SET_ROLLPLUS.

Referenced by setTask().

                                                        {
    if (axis == ROLL) {
        motorSet(SET_ROLLPLUS, vals[0]);
        motorSet(SET_ROLLMINUS, vals[1]);
    } else if (axis == PITCH) {
        motorSet(SET_PITCHPLUS, vals[0]);
        motorSet(SET_PITCHMINUS, vals[1]);
    }
}

void setTask

(

void

)

Read the PID Output and Set the Motor Speeds.

Examples:

uartFlight.c.

Definition at line 67 of file set.c.

References baseSpeed, pidOutput, and setMotorSpeeds().

                   {
    if (baseSpeed != 0) {
        for (uint8_t i = 0; i < 2; i++) {
            int16_t diff = pidOutput[i];
            // Base-Speed is always positive, diff could be negative
            if (diff > 0) {
                if (diff > baseSpeed) {
                    diff = baseSpeed; // Limit PID
                }
            } else {
                if (diff < -baseSpeed) {
                    diff = -baseSpeed; // Limit PID
                }
            }
            uint8_t v[2] = { baseSpeed + diff, baseSpeed - diff };
            if (v[0] < 10)
                v[0] = 10; // Keep Motors running
            if (v[1] < 10)
                v[1] = 10;
            setMotorSpeeds(i, v);
        }
    } else {
        // Motors stopped
        uint8_t v[2] = {0, 0};
        setMotorSpeeds(0, v);
        setMotorSpeeds(1, v);
    }
}

Variable Documentation

uint8_t baseSpeed

Motor Base Speed.

Examples:

uartFlight.c.

Definition at line 51 of file set.c.

Referenced by setTask().

uint8_t baseSpeed = 0

Motor Base Speed.

Definition at line 51 of file set.c.

Referenced by setTask().