From 8a08b9dce9cfc161494ddb07a1c979c7796780ff Mon Sep 17 00:00:00 2001 From: Sebastian Reichel Date: Fri, 15 Jun 2012 22:56:00 +0200 Subject: restructure code it is now loading its components from plugins --- ctrl/models/hexacopter.vala | 73 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 73 insertions(+) create mode 100644 ctrl/models/hexacopter.vala (limited to 'ctrl/models/hexacopter.vala') diff --git a/ctrl/models/hexacopter.vala b/ctrl/models/hexacopter.vala new file mode 100644 index 0000000..9462bc8 --- /dev/null +++ b/ctrl/models/hexacopter.vala @@ -0,0 +1,73 @@ +/* Copyright 2012, Sebastian Reichel + * + * Permission to use, copy, modify, and/or distribute this software for any + * purpose with or without fee is hereby granted, provided that the above + * copyright notice and this permission notice appear in all copies. + * + * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES + * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR + * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES + * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN + * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF + * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. + */ + +public class Hexacopter : CopterModel { + int[] min = new int[6]; + int[] max = new int[6]; + int[] cmd = new int[6]; + + const int YAW_DIRECTION = 1; + + private enum Position { + FRONT, + FRONT_RIGHT, + REAR_RIGHT, + REAR, + REAR_LEFT, + FRONT_LEFT, + } + + public override void init(KeyFile cfg) throws Error { + /* No Config */ + } + + public override uint8 get_motor_amount() { + return 6; + } + + public override void set_max(uint8 motor, int val) { + max[motor] = val; + } + + public override int get_max(uint8 motor) { + return max[motor]; + } + + public override void set_min(uint8 motor, int val) { + min[motor] = val; + } + + public override int get_min(uint8 motor) { + return min[motor]; + } + + public override int[] get_motor_data(int throttle, int motorAxisCommandYaw, int motorAxisCommandRoll, int motorAxisCommandPitch) { + int throttleCorrection = (motorAxisCommandYaw*3/6).abs(); + + cmd[Position.FRONT] = (throttle - throttleCorrection) + motorAxisCommandRoll/2 - motorAxisCommandPitch/2 - (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.FRONT_RIGHT] = (throttle - throttleCorrection) - motorAxisCommandRoll/2 + motorAxisCommandPitch/2 + (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.REAR_RIGHT] = (throttle - throttleCorrection) - motorAxisCommandRoll/2 - motorAxisCommandPitch/2 - (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.REAR] = (throttle - throttleCorrection) + motorAxisCommandRoll/2 + motorAxisCommandPitch/2 + (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.REAR_LEFT] = (throttle - throttleCorrection) - motorAxisCommandPitch + (YAW_DIRECTION * motorAxisCommandYaw); + cmd[Position.FRONT_LEFT] = (throttle - throttleCorrection) + motorAxisCommandPitch - (YAW_DIRECTION * motorAxisCommandYaw); + + return cmd; + } +} + +public Type register_plugin (Module module) { + // types are registered automatically + return typeof(Hexacopter); +} -- cgit v1.2.3