public void defineControlVarsSimplified(controlVars pidXlinVel, controlVars pidYlinVel, controlVars pidZlinVel, controlVars pidYangVel)
{
XlinVelC.defineControlVars(new Vector3(pidXlinVel.p, pidXlinVel.i, pidXlinVel.d), pidXlinVel.il);
YlinVelC.defineControlVars(new Vector3(pidYlinVel.p, pidYlinVel.i, pidYlinVel.d), pidYlinVel.il);
ZlinVelC.defineControlVars(new Vector3(pidZlinVel.p, pidZlinVel.i, pidZlinVel.d), pidZlinVel.il);
YangleVelC.defineControlVars(new Vector3(pidYangVel.p, pidYangVel.i, pidYangVel.d), pidYangVel.il);
}
public void defineControlVars(controlVars pidXlinVel, controlVars pidYlinVel, controlVars pidZlinVel, controlVars pidXangVel, controlVars pidYangVel, controlVars pidZangVel, controlVars pidXangPos, controlVars pidYangPos, controlVars pidZangPos, controlVars pidYforce)
{
XlinVelC.defineControlVars(new Vector3(pidXlinVel.p, pidXlinVel.i, pidXlinVel.d), pidXlinVel.il);
YlinVelC.defineControlVars(new Vector3(pidYlinVel.p, pidYlinVel.i, pidYlinVel.d), pidYlinVel.il);
ZlinVelC.defineControlVars(new Vector3(pidZlinVel.p, pidZlinVel.i, pidZlinVel.d), pidZlinVel.il);
//XanglePosC.defineControlVars(new Vector3(pidXangPos.p, pidXangPos.i, pidXangPos.d), pidXangPos.il);
//YanglePosC.defineControlVars(new Vector3(pidYangPos.p, pidYangPos.i, pidYangPos.d), pidYangPos.il);
//ZanglePosC.defineControlVars(new Vector3(pidZangPos.p, pidZangPos.i, pidZangPos.d), pidZangPos.il);
//XangleVelC.defineControlVars(new Vector3(pidXangVel.p, pidXangVel.i, pidXangVel.d), pidXangVel.il);
YangleVelC.defineControlVars(new Vector3(pidYangVel.p, pidYangVel.i, pidYangVel.d), pidYangVel.il);
//ZangleVelC.defineControlVars(new Vector3(pidZangVel.p, pidZangVel.i, pidZangVel.d), pidZangVel.il);
//YforceC.defineControlVars(new Vector3(pidYforce.p, pidYforce.i, pidYforce.d), pidYforce.il);
}
public droneController(controlVars pidXlinVel, controlVars pidYlinVel, controlVars pidZlinVel, controlVars pidYangVel, float time)
{
defineControlVarsSimplified(pidXlinVel, pidYlinVel, pidZlinVel, pidYangVel);
k = time;
}
public droneController(controlVars pidXlinVel, controlVars pidYlinVel, controlVars pidZlinVel, controlVars pidXangVel, controlVars pidYangVel, controlVars pidZangVel, controlVars pidXangPos, controlVars pidYangPos, controlVars pidZangPos, controlVars pidYforce)
{
defineControlVars(pidXlinVel, pidYlinVel, pidZlinVel, pidXangVel, pidYangVel, pidZangVel, pidXangPos, pidYangPos, pidZangPos, pidYforce);
}
