Needs:
| name | accepts | returns |
|---|---|---|
| int getHeight() | - | current height above ground in cm |
| void land() | - | lands the copter safely |
| void decHeight(int height) | the height in cm which the copter should descend | decreases the height of the copter by the given height |
| void decHeight(int height, int speed) | the height in cm which the copter should descend the speed in m/s with which the copter should descend | decreases the height of the copter by the given height with the given speed |
| void incHeight(int height) | the height in cm which the copter should ascend | increases the height of the copter by the given height |
| void incHeight(int height, int speed) | the height in cm which the copter should ascend the speed in m/s with which the copter should ascend | increases the height of the copter by the given height with the given speed |
| void setRotorFRSpeed(int speed) | the speed with which the rotor in the front right should rotate | sets the speed of the rotor in the front right |
| void setRotorFLSpeed(int speed) | the speed with which the rotor in the front left should rotate | sets the speed of the rotor in the front left |
| void setRotorBRSpeed(int speed) | the speed with which the rotor in the back right should rotate | sets the speed of the rotor in the back right |
| void setRotorBLSpeed(int speed) | the speed with which the rotor in the back left should rotate | sets the speed of the rotor in the back left |
Provides:
| name | accepts | returns |
|---|---|---|
| int getBatteryStatus() | - | the status of the battery in % (0-100) |
| int getActualBatteryVoltage() | - | the actual voltage of the battery in volt |
| bool checkForFailure() | - | checks if there are any motor or rotor failures or if any other failures occured |
Interface Design for the Battery Sensor
/*Library for checking the battery, i.e. its voltage*/ //returns the voltage of the battery in % from 0 to 100 int getBatteryStatus(); //returns the actual current voltage //provided by the battery in volt int getActualBatteryVoltage();
Interface Design for the Safety Systems
/*Library for Safety Systems. For checking if a motor or rotor has failed.*/ //Checks for a failure in all running motor systems //Also checks, if there are any missing rotors or //similar problems. bool checkForFailure();