jetfishteam / Mbed 2 deprecated jetfish

the fish that looks like a jet

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo

main.cpp.orig@3:666c1bae1a34, 2014-01-24 (annotated)

Committer:
sandwich
Date:
Fri Jan 24 21:58:04 2014 +0000
Revision:
3:666c1bae1a34
merged changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 3:666c1bae1a34 1 #include "mbed.h"
sandwich 3:666c1bae1a34 2 #include "motor_controller.h"
sandwich 3:666c1bae1a34 3 #include "guardian.h"
sandwich 3:666c1bae1a34 4 #include "IMU.h"
sandwich 3:666c1bae1a34 5 #include "Servo.h"
sandwich 3:666c1bae1a34 6 #include "rtos.h"
sandwich 3:666c1bae1a34 7
sandwich 3:666c1bae1a34 8 bool quit=false;
sandwich 3:666c1bae1a34 9
sandwich 3:666c1bae1a34 10 PololuMController mcon(p22, p6, p5);
sandwich 3:666c1bae1a34 11 Servo servo(p21);
sandwich 3:666c1bae1a34 12 Guardian ap(p21, p23, p24, p25, p26, p26);
sandwich 3:666c1bae1a34 13 Serial xbee(p13, p14);
sandwich 3:666c1bae1a34 14 Serial pc(USBTX, USBRX);
sandwich 3:666c1bae1a34 15
sandwich 3:666c1bae1a34 16 //IMU imu(0.1, 0.3, 0.005, 0.005);
sandwich 3:666c1bae1a34 17
sandwich 3:666c1bae1a34 18 void motor_thread(void const *args) {
sandwich 3:666c1bae1a34 19 Timer t;
sandwich 3:666c1bae1a34 20 t.start();
sandwich 3:666c1bae1a34 21 while (quit==false) {
sandwich 3:666c1bae1a34 22 mcon.drive_sinusoidal(t.read(), 1, 2*3.14, 0);
sandwich 3:666c1bae1a34 23 }
sandwich 3:666c1bae1a34 24 t.stop();
sandwich 3:666c1bae1a34 25 }
sandwich 3:666c1bae1a34 26
sandwich 3:666c1bae1a34 27 int main()
sandwich 3:666c1bae1a34 28 {
sandwich 3:666c1bae1a34 29 Thread thread(motor_thread);
sandwich 3:666c1bae1a34 30 ap.calibrate();
sandwich 3:666c1bae1a34 31 ap.set2D();
sandwich 3:666c1bae1a34 32 while(1) {
sandwich 3:666c1bae1a34 33 char buf[128];
sandwich 3:666c1bae1a34 34 if (xbee.readable())
sandwich 3:666c1bae1a34 35 {
sandwich 3:666c1bae1a34 36 xbee.gets(buf, 128);
sandwich 3:666c1bae1a34 37 pc.puts(buf);
sandwich 3:666c1bae1a34 38 }
sandwich 3:666c1bae1a34 39 memset(buf, 0, 128);
sandwich 3:666c1bae1a34 40 }
sandwich 3:666c1bae1a34 41 }