Senior_Design_Sailboat / Mbed 2 deprecated ECE4012_Sailboat

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Dependencies:   mbed Servo SDFileSystem

Files at this revision

API Documentation at this revision

Revision 33:37345814fad0, committed 2015-10-01

Comitter:
dem123456789
Date:
Thu Oct 01 15:24:11 2015 +0000
Parent:
32:263d39ea6d3e
Child:
34:610d315c1bab
Commit message:
syntax error corrected

Changed in this revision

Config.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Config.h	Sun Sep 27 09:26:00 2015 +0000
+++ b/Config.h	Thu Oct 01 15:24:11 2015 +0000
@@ -60,6 +60,6 @@
 string decodeCommandGET(string cmd);
 string decodeCommandSET(string cmd);
 vector<string> split(const string &s, char delim);
-double getDistance();
-double getAngle();
+double getDistance(int task_id);
+double getAngle(int task_id);
 double Deg2Rad(double degree);
\ No newline at end of file

--- a/main.cpp	Sun Sep 27 09:26:00 2015 +0000
+++ b/main.cpp	Thu Oct 01 15:24:11 2015 +0000
@@ -62,6 +62,8 @@
 
 double Longitude_Path[MAX_TASK_SIZE];
 double Latitude_Path[MAX_TASK_SIZE];
+double dis[MAX_TASK_SIZE];
+double ang[MAX_TASK_SIZE];
 
 double angle_to_path_point,distance_to_path_point,desired_speed;
 double rudder_ctrl_parameters[3];
@@ -90,9 +92,11 @@
      return ((int) coordinate) + ((coordinate-((int) coordinate))/60);    
 }
 
-void initialize_Path() {
+void initialize() {
     fill(Longitude_Path, Longitude_Path+MAX_TASK_SIZE, 181);
     fill(Latitude_Path, Latitude_Path+MAX_TASK_SIZE, 181);
+    fill(dis, dis+MAX_TASK_SIZE, -1);
+    fill(ang, ang+MAX_TASK_SIZE, -361);
 }
 
 void updateIMU(string IMU_data) {
@@ -229,8 +233,7 @@
     }
 }
 
-void printDistance() {
-    double[MAX_TASK_SIZE] dis = fill_n(array, MAX_TASK_SIZE, -1);;
+void printDistance() {   
     for(int i=0;i<MAX_TASK_SIZE;++i) {       
         dis[i] = getDistance(i);
         pc.printf("Distance Task %d: %f\n", i+1, dis[i]);
@@ -238,7 +241,6 @@
 }
 
 void printAngle() {
-    double[MAX_TASK_SIZE] ang = fill_n(array, MAX_TASK_SIZE, -361);;
     for(int i=0;i<MAX_TASK_SIZE;++i) {       
         ang[i] = getAngle(i);
         pc.printf("Angle Task %d: %f\n", i+1, ang[i]);
@@ -414,9 +416,8 @@
     pc.baud(115200);
     pc.attach(&PC_serial_ISR);
     ctrl_updt_timer.attach(&update_controller_tmr_ISR, T); // Update controller at 1/T Hz
-   
     initialize_controller();
-    initialize_Path();
+    initialize();
     //float angle=20;    
     while (1) {
     //    if (angle>160){angle=20;}