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| author | James Goppert <james.goppert@gmail.com> | 2013-07-28 22:27:05 -0400 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-07-28 22:27:05 -0400 |
| commit | dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4 (patch) | |
| tree | a3a3715da3a9bac871241df71a79d7687b862e3f /src/modules/segway/BlockSegwayController.hpp | |
| parent | 1980d9dd63e29390f7c3ba9b31be576c07706f73 (diff) | |
| download | px4-firmware-dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4.tar.gz px4-firmware-dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4.tar.bz2 px4-firmware-dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4.zip | |
Segway stabilized.
Diffstat (limited to 'src/modules/segway/BlockSegwayController.hpp')
| -rw-r--r-- | src/modules/segway/BlockSegwayController.hpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp index b16d38338..e2faa4916 100644 --- a/src/modules/segway/BlockSegwayController.hpp +++ b/src/modules/segway/BlockSegwayController.hpp @@ -8,11 +8,20 @@ class BlockSegwayController : public control::BlockUorbEnabledAutopilot { public: BlockSegwayController() : BlockUorbEnabledAutopilot(NULL,"SEG"), - phi2spd(this, "PHI2SPD") + theta2spd(this, "THETA2SPD"), + q2spd(this, "Q2SPD"), + _attPoll(), + _timeStamp(0) { + _attPoll.fd = _att.getHandle(); + _attPoll.events = POLLIN; } void update(); private: - BlockP phi2spd; + enum {CH_LEFT, CH_RIGHT}; + BlockPI theta2spd; + BlockP q2spd; + struct pollfd _attPoll; + uint64_t _timeStamp; }; |