root / quad1 / AeroQuad / Template.h @ 9240aaa3
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/*
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AeroQuad v2.1 - October 2010
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www.AeroQuad.com
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Copyright (c) 2010 Ted Carancho. All rights reserved.
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An Open Source Arduino based multicopter.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// User this as a template for new classes or subclasses
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// ***********************************************************************
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// ************************** Example Class ******************************
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// ***********************************************************************
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class exampleClass { |
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public:
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int exampleVariable;
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float exampleData[3]; |
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exampleClass(void) {
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// this is the constructor of the object and must have the same name
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// can be used to initialize any of the variables declared above
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} |
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// **********************************************************************
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// The following function calls must be defined inside any new subclasses
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// **********************************************************************
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virtual void initialize(void); |
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virtual void exampleFunction(int); |
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virtual const int getExampleData(byte); |
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// *********************************************************
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// The following functions are common between all subclasses
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// *********************************************************
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void examplePublicFunction(byte axis, int value) { |
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// insert common code here
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} |
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const int getPublicData(byte axis) { |
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return exampleData[axis];
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} |
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}; |
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// ***********************************************************************
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// ************************ Example Subclass *****************************
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// ***********************************************************************
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class exampleSubClass : public exampleClass { |
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private:
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int exampleArray[3]; // only for use inside this subclass |
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int examplePrivateData; // only for use inside this subclass |
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void examplePrivateFunction(int functionVariable) { |
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// it’s possible to declare functions just for this subclass
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} |
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public:
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exampleSubClass() : exampleClass(){ |
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// this is the constructor of the object and must have the same name
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// can be used to initialize any of the variables declared above
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} |
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// ***********************************************************
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// Define all the virtual functions declared in the main class
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// ***********************************************************
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void initialize(void) { |
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// insert code here
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} |
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void exampleFunction(int someVariable) { |
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// insert code here
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examplePrivateFunction(someVariable); |
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} |
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const int getExampleData(byte axis) { |
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// insert code here
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return exampleArray[axis];
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} |
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}; |
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// Example implementation of a class and subclass for a magnetometer
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// ***********************************************************************
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// ************************** Compass Class ******************************
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// ***********************************************************************
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class CompassExample { |
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private: // not found in the example above, but it's possible to declare private variables only seen in the main class |
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float cosRoll;
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float sinRoll;
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float cosPitch;
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float sinPitch;
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float magX;
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float magY;
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public:
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int compassAddress;
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float heading;
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int measuredMagX;
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int measuredMagY;
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int measuredMagZ;
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CompassExample(void) {
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// this is the constructor of the object and must have the same name
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// can be used to initialize any of the variables declared above
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} |
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// **********************************************************************
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// The following function calls must be defined inside any new subclasses
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// **********************************************************************
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virtual void initialize(void); |
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virtual void measure(void); |
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// *********************************************************
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// The following functions are common between all subclasses
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// *********************************************************
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const float getHeading(void) { |
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// Heading calculation based on code written by FabQuad
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// http://aeroquad.com/showthread.php?691-Hold-your-heading-with-HMC5843-Magnetometer
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cosRoll = cos(radians(flightAngle.getData(ROLL))); |
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sinRoll = sin(radians(flightAngle.getData(ROLL))); |
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cosPitch = cos(radians(flightAngle.getData(PITCH))); |
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sinPitch = sin(radians(flightAngle.getData(PITCH))); |
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magX = measuredMagX * cosPitch + measuredMagY * sinRoll * sinPitch + measuredMagZ * cosRoll * sinPitch; |
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magY = measuredMagY * cosRoll - measuredMagZ * sinRoll; |
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return degrees(atan2(-magY, magX));
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} |
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}; |
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// ***********************************************************************
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// ************************ Example Subclass *****************************
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// ***********************************************************************
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class Compass_AeroQuad_v2 : public CompassExample { |
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// This sets up the HMC5843 from Sparkfun
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public:
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Compass_AeroQuad_v2() : CompassExample(){ |
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compassAddress = 0x1E;
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} |
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// ***********************************************************
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// Define all the virtual functions declared in the main class
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// ***********************************************************
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void initialize(void) { |
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updateRegisterI2C(compassAddress, 0x02, 0x00); // continuous 10Hz mode |
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delay(100);
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} |
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void measure(void) { |
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sendByteI2C(compassAddress, 0x03);
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Wire.requestFrom(compassAddress, 6);
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measuredMagX = (Wire.receive() << 8) | Wire.receive();
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measuredMagY = (Wire.receive() << 8) | Wire.receive();
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measuredMagZ = (Wire.receive() << 8) | Wire.receive();
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Wire.endTransmission(); |
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} |
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}; |