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uncrustify libraries/AP_Motors/AP_MotorsOcta.cpp

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uncrustify 2012-08-16 23:20:26 -07:00 committed by Pat Hickey
parent d08c9a593e
commit 21c2609c61
1 changed files with 42 additions and 42 deletions
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84
libraries/AP_Motors/AP_MotorsOcta.cpp
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@ -1,53 +1,53 @@
/* /*
AP_MotorsOcta.cpp - ArduCopter motors library * AP_MotorsOcta.cpp - ArduCopter motors library
Code by RandyMackay. DIYDrones.com * Code by RandyMackay. DIYDrones.com
*
This library is free software; you can redistribute it and/or * This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
*/ */
#include "AP_MotorsOcta.h" #include "AP_MotorsOcta.h"
// setup_motors - configures the motors for a octa // setup_motors - configures the motors for a octa
void AP_MotorsOcta::setup_motors() void AP_MotorsOcta::setup_motors()
{ {
// call parent // call parent
AP_MotorsMatrix::setup_motors(); AP_MotorsMatrix::setup_motors();
// hard coded config for supported frames // hard coded config for supported frames
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) { if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
// plus frame set-up // plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1);
add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5);
add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8);
add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6);
add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7);
add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3); add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3);
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) { }else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
// V frame set-up // V frame set-up
add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 7); add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 7);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 3); add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 3);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6); add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6);
add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2); add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2);
add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 1); add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 1);
add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 5); add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 5);
}else { }else {
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1);
add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5);
add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2);
add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8);
add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6);
add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7);
add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3); add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3);
} }
} }