Diff: System/StaticDefs.cpp

Revision:

87:6d95f853dab3

Parent:

85:dd8176285b6e

--- a/System/StaticDefs.cpp	Thu May 02 20:34:16 2019 +0000
+++ b/System/StaticDefs.cpp	Wed May 08 13:24:04 2019 +0000
@@ -64,6 +64,10 @@
     static IMU imu(p28, p27);       // tx, rx pin
     return imu;    
 }
+Sensors & sensors() {
+    static Sensors sensors;
+    return sensors;
+}
 
 OuterLoop & depthLoop() {
     static OuterLoop depthLoop(0.1, 0); // interval, sensor type
@@ -79,6 +83,11 @@
     static OuterLoop headingLoop(0.1, 2); // interval, sensor type
     return headingLoop;
 }
+OuterLoop & altimLoop() {
+    static OuterLoop altimLoop(0.1, 3); // interval, sensor type
+    return  altimLoop;
+}
+
 
 StateMachine & stateMachine() {
     static StateMachine stateMachine;
@@ -99,20 +108,16 @@
     return legController;
 }
 
-Sensors & sensors() {
-    static Sensors sensors;
-    return sensors;
-}
 
 MbedLogger & mbedLogger() {
     static MbedLogger mbedLogger("/local/");        //local file system
     return mbedLogger;
 }
 
-MbedLogger & sdLogger() {
-    static MbedLogger sdLogger("/sd/");
-    return sdLogger;
-}
+//MbedLogger & sdLogger() {             // leaving this in with no SD card might be a problem.
+//    static MbedLogger sdLogger("/sd/");
+//    return sdLogger;
+//}
 
 DigitalOut & led1() {
     static DigitalOut led1(LED1);
@@ -133,7 +138,10 @@
     static DigitalOut led4(LED4);
     return led4;
 }
-
+DigitalIn & motorDisconnect() {
+     static DigitalIn motorDisconnect(p24, PullDown);
+     return motorDisconnect;
+}
 Gui & gui() {
     static Gui pythonGUI;
     return pythonGUI;