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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-14 14:58:02 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-14 14:58:02 +0200 |
| commit | e14d034528088412e6d85f5c0c07917e8076e981 (patch) | |
| tree | 18ceabb25375e8df25a9c72923dcbc167e1dbca4 /src/drivers/md25/md25.hpp | |
| parent | d0a9d250f74f9f1386760af3d324480d173a1b43 (diff) | |
| parent | 50e3bb28c90bb2cb93f9f0a549cf9c4838973e1c (diff) | |
| download | px4-firmware-e14d034528088412e6d85f5c0c07917e8076e981.tar.gz px4-firmware-e14d034528088412e6d85f5c0c07917e8076e981.tar.bz2 px4-firmware-e14d034528088412e6d85f5c0c07917e8076e981.zip | |
Merge branch 'master' of github.com:PX4/Firmware into fmuv2_bringup
Diffstat (limited to 'src/drivers/md25/md25.hpp')
| -rw-r--r-- | src/drivers/md25/md25.hpp | 18 |
1 files changed, 17 insertions, 1 deletions
diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp index e77511b16..1661f67f9 100644 --- a/src/drivers/md25/md25.hpp +++ b/src/drivers/md25/md25.hpp @@ -46,7 +46,7 @@ #include <poll.h> #include <stdio.h> -#include <controllib/block/UOrbSubscription.hpp> +#include <controllib/uorb/UOrbSubscription.hpp> #include <uORB/topics/actuator_controls.h> #include <drivers/device/i2c.h> @@ -213,6 +213,19 @@ public: int setDeviceAddress(uint8_t address); /** + * set motor acceleration + * @param accel + * controls motor speed change (1-10) + * accel rate | time for full fwd. to full rev. + * 1 | 6.375 s + * 2 | 1.6 s + * 3 | 0.675 s + * 5(default) | 1.275 s + * 10 | 0.65 s + */ + int setMotorAccel(uint8_t accel); + + /** * set motor 1 speed * @param normSpeed normalize speed between -1 and 1 * @return non-zero -> error @@ -290,4 +303,7 @@ private: // unit testing int md25Test(const char *deviceName, uint8_t bus, uint8_t address); +// sine testing +int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency); + // vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 |