Helicopter/firmware
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Project structure redefinition

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This commit is contained in:
Goga Coder
2024-03-01 22:58:59 +07:00
parent 9d0f5d06ea
commit 69c736b1eb
18 changed files with 126 additions and 63 deletions
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9
src/main.cpp
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@@ -4,8 +4,6 @@
#include "App.hpp"
#include "BoardI2C.hpp"
#define IGNORE_CHARGE true
BoardI2C i2c;
static Application *app = nullptr;
@@ -15,11 +13,12 @@ void setup() {
app = new Application(new FlightDispatcher(
new BluetoothDispatcher(new BluetoothSerial()),
new FlightController(
new Sensors(new Barometer(new GyverBME280(i2c)), new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
new Kalman2DFilter(10.f, 1.f, 1.8f), new BatteryController()),
new Sensors(new Barometer(new GyverBME280(i2c)),
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)), new Kalman2DFilter(10.f, 1.f, 1.8f),
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN)),
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 1), 1),
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 2), 2),
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 3), 3), IGNORE_CHARGE)));
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 3), 3), true)));
}
void loop() {