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uncrustify libraries/AP_Motors/AP_MotorsOctaQuad.cpp

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uncrustify 2012-08-16 23:20:26 -07:00 committed by Pat Hickey
parent c7f8c4dfa7
commit dc21cc1003
1 changed files with 32 additions and 32 deletions
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64
libraries/AP_Motors/AP_MotorsOctaQuad.cpp
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@ -1,41 +1,41 @@
/* /*
AP_MotorsOctaQuad.cpp - ArduCopter motors library * AP_MotorsOctaQuad.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_MotorsOctaQuad.h" #include "AP_MotorsOctaQuad.h"
// setup_motors - configures the motors for a octa // setup_motors - configures the motors for a octa
void AP_MotorsOctaQuad::setup_motors() void AP_MotorsOctaQuad::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_CCW, AP_MOTORS_MOT_3, 1); add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 1);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 7); add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 7);
add_motor(AP_MOTORS_MOT_3, 180, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_3, 180, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5);
add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 4); add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 4);
add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_7, 8); add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_7, 8);
add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 2); add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 2);
add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_6, 6); add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_6, 6);
}else{ }else{
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 1); add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 1);
add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 7); add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 7);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 4); add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 4);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_7, 8); add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_7, 8);
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 2); add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 2);
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_6, 6); add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_6, 6);
} }
} }