Diff: main.cpp

Revision:

55:f4ec445c42fe

Parent:

54:d4990fb68404

Child:

56:48a8a5a65b82

diff -r d4990fb68404 -r f4ec445c42fe main.cpp
--- a/main.cpp	Fri Jun 08 13:56:30 2018 +0000
+++ b/main.cpp	Tue Jun 12 15:41:51 2018 +0000
@@ -22,6 +22,9 @@
             * added readADCCounts() to omegaPX209 class to see channel readings
             * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4()
         - fixed rudderLoop to headingLoop from newer code
+    Modified FSG PCB V2
+        - added init headingLoop to main
+        - added pitch and heading outputs to STREAM_STATUS
             
     NOTE: Flipped motor controller output on connector side with battery mass mover (BMM)
         - Motor direction was opposite the BCE motor (because of gearing) 
@@ -96,6 +99,11 @@
     pitchLoop().init();
     pitchLoop().start();
     pitchLoop().setCommand(stateMachine().getPitchCommand());
+    
+    //new 6/8/2018 for testing
+    headingLoop().init();           
+    headingLoop().setCommand(0.0);  //setting heading to 0 for testing
+    //new 6/8/2018 for testing
  
     // show that the PID gains are loading from the file
     pc().printf("bce    P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f  \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope());