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
System/StaticDefs.cpp
- Committer:
- danstrider
- Date:
- 2017-10-23
- Revision:
- 10:085ab7328054
- Parent:
- 9:d5fcdcb3c89d
- Child:
- 11:3b241ecb75ed
File content as of revision 10:085ab7328054:
#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; } Ticker & pulse() { static Ticker pulse; return pulse; } Serial & pc() { static Serial p(USBTX, USBRX); // tx, rx return p; } LocalFileSystem & local() { static LocalFileSystem local("local"); return local; } SpiADC & adc() { static SpiADC adc(p5,p6,p7,p8,LED2); return adc; } LinearActuator & bce() { static LinearActuator bce(0.01, p25, p29, p30, p18, 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 return batt; } omegaPX209 & depth() { static omegaPX209 depth(p19); // pin return depth; } IMU & imu() { static IMU imu(p13,p14); // tx, rx pin return imu; } OuterLoop & depthLoop() { static OuterLoop depthLoop(0.1, 0); // interval, sensor type return depthLoop; } OuterLoop & pitchLoop() { static OuterLoop pitchLoop(0.1, 1); // interval, sensor type return pitchLoop; } DigitalOut & led1() { static DigitalOut led1(LED1); return led1; } DigitalOut & led2() { static DigitalOut led2(LED2); return led2; } DigitalOut & led3() { static DigitalOut led3(LED3); return led3; } DigitalOut & led4() { static DigitalOut led4(LED4); return led4; }