most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
Diff: System/StaticDefs.cpp
- Revision:
- 51:c5c40272ecc3
- Parent:
- 49:47ffa4feb6db
- Child:
- 52:f207567d3ea4
--- a/System/StaticDefs.cpp Thu Feb 15 23:08:38 2018 +0000 +++ b/System/StaticDefs.cpp Mon Jun 04 15:20:21 2018 +0000 @@ -14,8 +14,8 @@ } MODSERIAL & pc() { - //static MODSERIAL pc(USBTX, USBRX); - static MODSERIAL pc(p9, p10); //XBee tx, rx pins + static MODSERIAL pc(USBTX, USBRX); + //static MODSERIAL pc(p9, p10); //XBee tx, rx pins return pc; } @@ -26,21 +26,24 @@ //FIX THIS TO USE SPI data logger... - +/* MODSERIAL & datalogger() { static MODSERIAL datalogger(p28, p27); //Data Logger tx, rx pins return datalogger; } +*/ LocalFileSystem & local() { static LocalFileSystem local("local"); return local; } +/*************************************************************** Conflict with IMU SDFileSystem & sd_card() { static SDFileSystem sd_card(p11, p12, p13, p14, "sd"); //SDFileSystem sd_card(MOSI, MISO, SCK, CS, "sd"); return sd_card; } +*/ SpiADC & adc() { static SpiADC adc(p5,p6,p7,p8,LED2); @@ -48,12 +51,12 @@ } LinearActuator & bce() { - static LinearActuator bce(0.01, p25, p29, p30, p18, 0); //interval , pwm, dir, reset, limit switch, adc channel + static LinearActuator bce(0.01, p22, p15, p16, p17, 0); //interval , pwm, dir, reset, limit switch, adc channel return bce; } LinearActuator & batt() { - static LinearActuator batt(0.01, p23, p21, p22, p17, 1); //interval , pwm, dir, reset, limit switchm, adc channel + static LinearActuator batt(0.01, p21, P0_29, P0_30, p18, 1); //interval , pwm, dir, reset, limit switchm, adc channel return batt; } @@ -62,14 +65,14 @@ return servo; } - +//*************Need to adjust class************** omegaPX209 & depth() { static omegaPX209 depth(p19); // pin return depth; } IMU & imu() { - static IMU imu(p28, p27); // tx, rx pin + static IMU imu(p13, p14); // tx, rx pin return imu; }