Diff: main.cpp

Revision:

14:67133c127740

Parent:

13:7fe71170d157

Child:

17:770a161346ed

diff -r 7fe71170d157 -r 67133c127740 main.cpp
--- a/main.cpp	Mon Jul 01 16:36:54 2019 +0000
+++ b/main.cpp	Mon Jul 01 21:39:44 2019 +0000
@@ -17,7 +17,7 @@
 AnalogIn x(A0);                     //Initializes analog axis for the joystick
 AnalogIn y(A1);
 
-double watchdogLimit = 0.1;             // Set timeout limit for watchdog timer in seconds
+double watchdogLimit = 1; //Should be 0.1             // Set timeout limit for watchdog timer in seconds
 int buttonCheck = 0;
 int iteration = 1;
 
@@ -51,7 +51,7 @@
 Wheelchair smart(xDir,yDir, &pc, &t, &wheel, &wheelS, ToFT); //Initialize wheelchair object
 Thread compass;                      //Thread for compass
 Thread velocity;                      //Thread for velosity
-Thread assistSafe;                  //thread for safety stuff
+Thread  ToFSafe;                  //thread for safety stuff
 
 
 int main(void)
@@ -64,12 +64,12 @@
     pc.printf("before starting\r\n");
     //queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::compass_thread);  //Sets up sampling frequency of the compass_thread
     queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::velocity_thread); //Sets up sampling frequency of the velosity_thread
-    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::assistSafe_thread); //Sets up sampling frequency of the velosity_thread
+    queue.call_every(SAMPLEFREQ, &smart, &Wheelchair::ToFSafe_thread); //Sets up sampling frequency of the velosity_thread
     //queue.call_every(200, rosCom_thread); //Sets up sampling frequency of the velosity_thread
     t.reset();
     //compass.start(callback(&queue, &EventQueue::dispatch_forever));      //Starts running the compass thread
     velocity.start(callback(&queue, &EventQueue::dispatch_forever));     //Starts running the velosity thread
-    assistSafe.start(callback(&queue, &EventQueue::dispatch_forever));     //Starts running the velosity thread
+    ToFSafe.start(callback(&queue, &EventQueue::dispatch_forever));     //Starts running the velosity thread
     //ros_com.start(callback(&queue, &EventQueue::dispatch_forever));     //Starts running the velosity thread
         pc.printf("After starting\r\n");
 
@@ -142,7 +142,7 @@
         wait(process);
         
         t.stop();
-        pc.printf("Time elapsed: %f seconds and iteration = %d\n", t.read(), iteration);
+        //pc.printf("Time elapsed: %f seconds and iteration = %d\n", t.read(), iteration);
         dog.Service();                                                  // Service the Watchdog so it does not cause a system reset - "Kicking"/"Feeding" the dog
 
     }