Quadrotor< T, DriverT > Class Template Reference

Simple quadrotor (quadcopter) model with 4-motor control. More...

#include <Quadrotor.h>

Inheritance diagram for Quadrotor< T, DriverT >:

Collaboration diagram for Quadrotor< T, DriverT >:

Public Member Functions
void	setPins (QuadrotorMotorNo motor, int in1, int in2)
	Set the pins for a specific motor (0=front left, 1=front right, 2=rear left, 3=rear right)
void	setThrottle (float percent)
void	setRoll (float percent)
void	setPitch (float percent)
void	setYaw (float percent)
void	end () override
void	setMotorGain (QuadrotorMotorNo motor, float gain)
	Set a calibration gain for a specific motor (default 1.0).
bool	isPinsSet () const
	Check if the necessary pins for the vehicle's actuators have been set (pure virtual).
bool	onMessage (const Message< float > &msg) override
	Handle an incoming message (pure virtual).
std::vector< MessageContent >	getControls () const override
DriverT &	getMotor (QuadrotorMotorNo motor)
std::vector< IMotor< T > * >	getMotors () override
Public Member Functions inherited from Vehicle< MotorT >
bool	begin ()
	Initialize the vehicle.
virtual void	end ()=0
	Reset the vehicle to a safe or neutral state (pure virtual).
virtual bool	isPinsSet () const =0
	Check if the necessary pins for the vehicle's actuators have been set (pure virtual).
virtual std::vector< MessageContent >	getControls () const =0
float	getSpeedFactor () const
	Get the speed factor (scaling for speed commands).
void	setSpeedFactor (float factor)
	Set the speed factor (scaling for speed commands).
virtual std::vector< IMotor< MotorT > * >	getMotors ()=0
Public Member Functions inherited from MessageHandler
virtual bool	onMessage (const Message< float > &msg)=0
	Handle an incoming message (pure virtual).
virtual bool	onMessage (const Message< Coordinate< float > > &msg)
virtual bool	onMessage (const Message< GPSCoordinate > &msg)
virtual bool	onMessage (const Message< MotionState3D > &msg)
Public Member Functions inherited from MessageSource
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.
void	unsubscribeAll ()
	Remove all registered message handlers.
void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.

Protected Member Functions
void	updateMotors ()
	Update all motors based on throttle, roll, pitch, and yaw.

Protected Attributes
DriverT	motors_ [4]
float	motorGain_ [4] = {1.0f, 1.0f, 1.0f, 1.0f}
float	throttle_ = 0
float	roll_ = 0
float	pitch_ = 0
float	yaw_ = 0
Protected Attributes inherited from Vehicle< MotorT >
float	speedFactor_ = 1.0f
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

template<typename T = float, typename DriverT = BrushedMotor<T>>
class tinyrobotics::Quadrotor< T, DriverT >

Simple quadrotor (quadcopter) model with 4-motor control.

This class abstracts the control of a basic quadcopter:

• 4 motors (front left, front right, rear left, rear right) via HBridge
• Throttle, roll, pitch, and yaw control

Usage Example (with setPins):

Quadrotor quad;
quad.setPins(FRONT_LEFT, m1_in1, m1_in2); // front left
quad.setPins(FRONT_RIGHT, m2_in1, m2_in2); // front right
quad.setPins(REAR_LEFT, m3_in1, m3_in2); // rear left
quad.setPins(REAR_RIGHT, m4_in1, m4_in2); // rear right
quad.setThrottle(60); // 60% throttle
quad.setRoll(10);     // roll right
quad.setPitch(-5);    // pitch down
quad.setYaw(15);      // yaw right

Member Function Documentation

end()

void end ( )

inlineoverridevirtual

Stop all motors and reset state

Implements Vehicle< MotorT >.

getControls()

std::vector< MessageContent > getControls ( ) const

inlineoverridevirtual

Implements Vehicle< MotorT >.

getMotors()

std::vector< IMotor< T > * > getMotors ( )

inlineoverridevirtual

Implements Vehicle< MotorT >.

isPinsSet()

bool isPinsSet ( ) const

inlinevirtual

Check if the necessary pins for the vehicle's actuators have been set (pure virtual).

Implements Vehicle< MotorT >.

onMessage()

bool onMessage ( const Message< float > &  msg )

inlineoverridevirtual

Handle an incoming message (pure virtual).

This method should be implemented by derived classes to process messages.

Parameters

msg	The message to handle.

Returns

true if the message was handled successfully, false otherwise.

Implements MessageHandler.

setMotorGain()

void setMotorGain ( QuadrotorMotorNo  motor, float  gain  )

inline

Set a calibration gain for a specific motor (default 1.0).

Parameters

motor	Motor index (QuadrotorMotorNo)
gain	Gain factor (e.g., 1.05 for +5% output)

setPitch()

void setPitch ( float  percent )

inline

Set pitch (-100 to 100): positive = forward, negative = backward

setRoll()

void setRoll ( float  percent )

inline

Set roll (-100 to 100): positive = right, negative = left

setThrottle()

void setThrottle ( float  percent )

inline

Set throttle (0-100%) for all motors

setYaw()

void setYaw ( float  percent )

inline

Set yaw (-100 to 100): positive = right, negative = left

updateMotors()

void updateMotors ( )

inlineprotected

Update all motors based on throttle, roll, pitch, and yaw.

This is a simple mixer for an X-configuration quadrotor:

• m1: front left
• m2: front right
• m3: rear left
• m4: rear right

Each control input is in percent (-100 to 100).

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The documentation for this class was generated from the following file:

• src/TinyRobotics/vehicles/Quadrotor.h