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uncrustify libraries/AP_Motors/AP_MotorsHexa.cpp

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uncrustify 13 years ago committed by Pat Hickey
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1 changed files with 28 additions and 28 deletions
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  1. 56
      libraries/AP_Motors/AP_MotorsHexa.cpp

56
libraries/AP_Motors/AP_MotorsHexa.cpp
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@ -1,37 +1,37 @@
/* /*
AP_MotorsHexa.cpp - ArduCopter motors library * AP_MotorsHexa.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_MotorsHexa.h" #include "AP_MotorsHexa.h"
// setup_motors - configures the motors for a hexa // setup_motors - configures the motors for a hexa
void AP_MotorsHexa::setup_motors() void AP_MotorsHexa::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_CCW, AP_MOTORS_MOT_1, 4); add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 4);
add_motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 5); add_motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 5);
add_motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2); add_motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2);
add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6); add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6);
add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_5, 3); add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_5, 3);
}else{ }else{
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 2); add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5);
add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 6); add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 6);
add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 3); add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 3);
add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 1); add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 1);
add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_5, 4);
} }
} }
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