![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
GPS and IMU reading works
Dependencies: mbed Servo SDFileSystem
Diff: main.cpp
- Revision:
- 24:8e38cc14150c
- Parent:
- 23:cc06a8226f72
- Child:
- 26:353a80179346
diff -r cc06a8226f72 -r 8e38cc14150c main.cpp --- a/main.cpp Sun Sep 06 23:02:48 2015 +0000 +++ b/main.cpp Thu Sep 10 00:09:31 2015 +0000 @@ -185,6 +185,7 @@ } + void printStateIMU() { //pc.printf("IMU_Y: %s, IMU_P: %s, IMU_R: %s\n",IMU_Y.c_str(), IMU_P.c_str(), IMU_R.c_str()); pc.printf("D_IMU_Y: %f, D_IMU_P: %f, D_IMU_R: %f\n",D_IMU_Y, D_IMU_P, D_IMU_R); @@ -274,6 +275,17 @@ led4= !led4; } + + +void update_controller() { + /*Input: angle(deg) difference between heading from IMU and path point航向与目的点之间的夹角 + distance(meter) to the next path point + + Function: drive two servos to navigate the sailboat to the desired path point + */ + +} + void set_servo_position(Servo targetServo, float angleDeg, float minDeg, float minNorVal, float maxDeg, float maxNorVal){ /*angleDeg: desired angle minDeg: minimum angle in degrees