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Dependencies:   mbed MPU6050

main.cpp@5:8bbe640528bc, 2019-09-29 (annotated)

Committer:
GaspardD
Date:
Sun Sep 29 17:09:48 2019 +0000
Revision:
5:8bbe640528bc
Parent:
4:efa207509f63
Child:
6:ab9f3695633f
jumper detection

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 1:8faddee0e52f 1 #include "sm_esc.h"
GaspardD 2:e9d928fd327a 2 #include "sm_servo.h"
GaspardD 4:efa207509f63 3 #include "sm_sections.h"
GaspardD 0:38b6065539a0 4
GaspardD 3:1b7eb426247e 5 int main()
GaspardD 3:1b7eb426247e 6 {
GaspardD 5:8bbe640528bc 7 //on met le jumper sur le chassis le plus récent. Avec le jumper, chassisMode = 0.
GaspardD 5:8bbe640528bc 8 chassisMode.mode(PullUp);
GaspardD 5:8bbe640528bc 9
GaspardD 4:efa207509f63 10 //init timers
GaspardD 4:efa207509f63 11 timerSinceStart.start();
GaspardD 0:38b6065539a0 12
GaspardD 4:efa207509f63 13 //init_interruptions
GaspardD 4:efa207509f63 14 button.fall(&it_pressed);
GaspardD 4:efa207509f63 15 odom.fall(&it_odom);
GaspardD 3:1b7eb426247e 16
GaspardD 1:8faddee0e52f 17 //init state machines
GaspardD 4:efa207509f63 18 pc.printf("init state machines\r\n");
GaspardD 3:1b7eb426247e 19
GaspardD 4:efa207509f63 20 output_sm_esc();
GaspardD 3:1b7eb426247e 21 init_sm_servo();
GaspardD 2:e9d928fd327a 22
GaspardD 1:8faddee0e52f 23 while(1) {
GaspardD 4:efa207509f63 24
GaspardD 1:8faddee0e52f 25 update_sm_esc();
GaspardD 4:efa207509f63 26 update_sm_servo();
GaspardD 3:1b7eb426247e 27
GaspardD 4:efa207509f63 28 output_sm_esc();
GaspardD 3:1b7eb426247e 29 output_sm_servo();
GaspardD 0:38b6065539a0 30 }
GaspardD 0:38b6065539a0 31 }