FSG
/
System
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Dependents: 7_21_17_FSG 7_26_17_FSG
Diff: StaticDefs.cpp
- Revision:
- 0:45085dd174e7
- Child:
- 1:e827d45c3948
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/StaticDefs.cpp Thu Apr 27 13:16:07 2017 +0000
@@ -0,0 +1,41 @@
+#include "StaticDefs.hpp"
+
+//Declare static global variables using 'construct on use' idiom to ensure they are always constructed correctly
+// and avoid "static initialization order fiasco".
+
+Timer &systemTime()
+{
+ static Timer s;
+ return s;
+}
+
+Serial & pc()
+{
+ //static MODSERIAL p(USBTX, USBRX, 512, 64); // tx, rx
+ static Serial p(USBTX, USBRX);
+ return p;
+}
+
+SpiADC & adc()
+{
+ static SpiADC adc;
+ return adc;
+}
+
+PosVelFilter & pvf()
+{
+ static PosVelFilter pvf;
+ return pvf;
+}
+
+BCEmotor & bce()
+{
+ static BCEmotor bce(p26, p29, p30);
+ return bce;
+}
+
+PositionController & posCon()
+{
+ static PositionController posCon;
+ return posCon;
+}