PRISMA Lab / Mbed OS Hyfliers_Completo_testato

Clone per testare Mbed studio

Dependencies:   PwmIn IONMcMotor MPU6050 Eigen ROVER

Fork of Hyfliers_Completo_testato by Marco De Silva

main.cpp@6:584653235830, 2021-09-14 (annotated)

Committer:
anfontanelli
Date:
Tue Sep 14 11:18:35 2021 +0000
Revision:
6:584653235830
Parent:
4:3f22193053d0
Child:
10:62e9b61ed1ad
A

Who changed what in which revision?

UserRevisionLine numberNew contents of line
anfontanelli 6:584653235830 1 #include "systemControl.h"
group-ST 0:6e8275981824 2
anfontanelli 3:fc26045926d9 3 DigitalOut myled1(LED1);
anfontanelli 3:fc26045926d9 4 DigitalOut myled2(LED2);
anfontanelli 3:fc26045926d9 5
anfontanelli 3:fc26045926d9 6 int main() {
anfontanelli 3:fc26045926d9 7
anfontanelli 6:584653235830 8 SystemControl control;
anfontanelli 6:584653235830 9 Timer timeCheckTimer;
anfontanelli 3:fc26045926d9 10
anfontanelli 6:584653235830 11 float actualTime = 0.0;
anfontanelli 6:584653235830 12 float precTime = 0.0;
anfontanelli 6:584653235830 13
anfontanelli 6:584653235830 14 ThisThread::sleep_for(2000);
group-ST 0:6e8275981824 15
anfontanelli 6:584653235830 16 control.initEthernet();
anfontanelli 6:584653235830 17 control.initArm();
anfontanelli 6:584653235830 18 control.initRover();
anfontanelli 6:584653235830 19 timeCheckTimer.start();
anfontanelli 6:584653235830 20 ThisThread::sleep_for(1000);
anfontanelli 3:fc26045926d9 21
anfontanelli 6:584653235830 22 while (1){
anfontanelli 6:584653235830 23
anfontanelli 6:584653235830 24
anfontanelli 6:584653235830 25 control.updateEthCommunication();
anfontanelli 6:584653235830 26 control.armRoverKinematicControlFunction();
anfontanelli 6:584653235830 27 control.stabilizationFunction();
anfontanelli 6:584653235830 28 control.navigationFunction();
anfontanelli 6:584653235830 29 control.calcDroneDynamics();
anfontanelli 6:584653235830 30
anfontanelli 6:584653235830 31 control.toolControlFunction();
anfontanelli 6:584653235830 32
anfontanelli 6:584653235830 33 control.printThreadFunction();
anfontanelli 6:584653235830 34
anfontanelli 6:584653235830 35 actualTime = timeCheckTimer.read();
anfontanelli 6:584653235830 36 control.actualDtControlCycle = actualTime;
anfontanelli 6:584653235830 37
anfontanelli 6:584653235830 38 while(control.dtBoard > control.actualDtControlCycle){
anfontanelli 6:584653235830 39 ThisThread::sleep_for(0.01);
anfontanelli 6:584653235830 40 actualTime = timeCheckTimer.read();
anfontanelli 6:584653235830 41 control.actualDtControlCycle = actualTime;
anfontanelli 6:584653235830 42
anfontanelli 6:584653235830 43 }
anfontanelli 6:584653235830 44
anfontanelli 6:584653235830 45 timeCheckTimer.reset();
anfontanelli 3:fc26045926d9 46
anfontanelli 6:584653235830 47 }
anfontanelli 3:fc26045926d9 48
group-ST 0:6e8275981824 49 }
anfontanelli 3:fc26045926d9 50