Diff: main.cpp

Revision:

0:95d17607a698

Child:

2:b31c4677ebc0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Feb 28 16:25:25 2015 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+#include "param.h"
+#include "pin_config.h"
+
+//control stearing
+PwmOut heading_front(PIN_FRONT_SERVO);
+PwmOut heading_rear(PIN_REAR_SERVO);
+//control speed
+PwmOut drive_motor(PIN_RC_SPEED);
+
+//led debugging
+DigitalOut myled(LED1);
+
+//set foreground
+Ticker Update_command;
+Ticker Samping;
+
+void Init_servo()
+{
+    heading_front.period_ms(20);
+    heading_rear.period_ms(20);
+    drive_motor.period_ms(20);
+}
+void Init_communication()
+{
+    iSerial pan_a(TX_PAN_A, RX_PAN_A); // tx, rx
+    iSerial pan_b(TX_PAN_B, RX_PAN_B); // tx, rx
+
+    pan_a.baud(115200);
+    pan_b.baud(115200);
+
+}
+
+void Init_foreground()
+{
+    Update_command.attach(&setControl,TIMER_UPDATE);
+    Samping.attach(&getSensor,TIMER_SAMPING);
+}
+
+void setControl()
+{
+
+}
+
+void getSensor()
+{
+    
+}
+
+int main()
+{
+    Init_communication();
+    Init_servo();
+
+}