TRR 2018 / Mbed 2 deprecated biniou-TRR2019

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Dependencies:   mbed MPU6050

main.cpp@8:f23601373e8b, 2019-10-02 (annotated)

Committer:
GaspardD
Date:
Wed Oct 02 22:25:12 2019 +0000
Revision:
8:f23601373e8b
Parent:
7:23bb20892c8c
Child:
9:1b54bac6d9a7
angle correction working

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 8:f23601373e8b 4 #include "sm_mpu.h"
GaspardD 6:ab9f3695633f 5
GaspardD 6:ab9f3695633f 6
GaspardD 0:38b6065539a0 7
GaspardD 3:1b7eb426247e 8 int main()
GaspardD 3:1b7eb426247e 9 {
GaspardD 8:f23601373e8b 10 //on met le jumper sur le chassis le plus récent. Avec le jumper, b_CHASSIS_Mode = 0.
GaspardD 6:ab9f3695633f 11 init_chassis_mode();
GaspardD 8:f23601373e8b 12
GaspardD 4:efa207509f63 13 //init timers
GaspardD 8:f23601373e8b 14 t_utils_timerSinceStart.start();
GaspardD 0:38b6065539a0 15
GaspardD 4:efa207509f63 16 //init_interruptions
GaspardD 8:f23601373e8b 17 b_UTILS_button.fall(&it_pressed);
GaspardD 8:f23601373e8b 18 b_ODOM_odom.fall(&it_odom);
GaspardD 8:f23601373e8b 19 b_UTILS_emergency_signal.rise(&it_emergency_signal_recieved);
GaspardD 3:1b7eb426247e 20
GaspardD 1:8faddee0e52f 21 //init state machines
GaspardD 8:f23601373e8b 22 rs_UTILS_pc.printf("init state machines\r\n");
GaspardD 3:1b7eb426247e 23
GaspardD 8:f23601373e8b 24 init_sm_mpu();
GaspardD 8:f23601373e8b 25 init_sm_sections();
GaspardD 6:ab9f3695633f 26 init_sm_esc();
GaspardD 3:1b7eb426247e 27 init_sm_servo();
GaspardD 2:e9d928fd327a 28
GaspardD 1:8faddee0e52f 29 while(1) {
GaspardD 8:f23601373e8b 30
GaspardD 8:f23601373e8b 31 update_sm_mpu();
GaspardD 8:f23601373e8b 32 update_sm_sections();
GaspardD 1:8faddee0e52f 33 update_sm_esc();
GaspardD 4:efa207509f63 34 update_sm_servo();
GaspardD 3:1b7eb426247e 35
GaspardD 8:f23601373e8b 36 output_sm_mpu();
GaspardD 8:f23601373e8b 37 output_sm_sections();
GaspardD 4:efa207509f63 38 output_sm_esc();
GaspardD 3:1b7eb426247e 39 output_sm_servo();
GaspardD 8:f23601373e8b 40
GaspardD 8:f23601373e8b 41 rs_UTILS_pc.printf("\r\n");
GaspardD 0:38b6065539a0 42 }
GaspardD 0:38b6065539a0 43 }