Diff: main.cpp

Revision:

2:50b1371247da

Parent:

1:38b385f34687

--- a/main.cpp	Tue Jun 25 23:49:40 2019 +0000
+++ b/main.cpp	Sun Oct 06 02:59:58 2019 +0000
@@ -1,29 +1,37 @@
 #include "mbed.h"
-#include <ros.h>
-#include <nav_msgs/Odometry.h>  //contains both the twist and pose
-#include "Watchdog.h"
+#include "ResetSupervisor.h"
 
 int i = 1;
 
-Serial pc(USBTX, USBRX, 57600);     //Serial Monitor
+#include "USBSerial.h"
 
+/******************** Comms *********************/
+USBSerial pc;
+FileHandle* mbed::mbed_override_console(int)
+{   
+    return &pc;
+}
+
+Supervisor foreman;
 int main(void)
 {
-    Watchdog dog;
-    dog.Configure(1);
-    pc.printf("I'm resetting!\n", dog.WatchdogCausedReset());
+    wait(1);
+
+    foreman.initWD(5); // turn on the Watchdog Timer and set it for 5 seconds
+    if(foreman.resetReason() == RCC_FLAG_IWDGRST)
+        pc.printf("Watchdog Reset!\n");
     
-    while(i++)
+    while(1)
     {
-    pc.printf("Hello! I'm working! Iteration: %d \n", i);
-    wait(0.9);
-    
-    if (i == 10) {
-        wait(0.6);
-    }
-    
-    
-    dog.Service();
-    //return 0;
+        pc.printf("Hello! I'm working! Iteration: %d \n", i);
+        wait(1);
+        
+        if (i == 10) {
+            wait(10);
+        }
+        
+        
+        foreman.pingWD();
+        i++;
     }
 }
\ No newline at end of file