Diff: main.cpp

Revision:

8:0574a5db1fc4

Parent:

7:e005cfaff8d1

Child:

9:8dd7a76756e2

--- a/main.cpp	Thu Jan 30 02:04:23 2014 +0000
+++ b/main.cpp	Fri Jan 31 04:33:44 2014 +0000
@@ -4,25 +4,27 @@
 //#include "IMU.h"
 #include "Servo.h"
 //#include "rtos.h"
-#include "PwmReader.h"
+//#include "PwmReader.h"
+#include "PwmIn.h"
 
-#define THROTTLE_MAX 0.4
-#define THROTTLE_MIN 0.2
+#define VOLUME_MAX 0.4
+#define VOLUME_MIN 0.2
 #define FREQUENCY_MAX 0.4
 #define FREQUENCY_MIN 0.2
 #define RUDDER_MAX 0.4
 #define RUDDER_MIN 0.2
+#define SIZE_ARRAY 500
 
 bool quit=false;
 
-InterruptIn event(p16);
+//InterruptIn event(p16);
 PololuMController mcon(p22, p6, p5);
-Servo servo(p21);
-Guardian ap(p21, p23, p24, p25, p26, p26);
-Serial xbee(p13, p14);
+//Servo servo(p21);
+//Guardian ap(p21, p23, p24, p25, p26, p26);
+//Serial xbee(p13, p14);
 Serial pc(USBTX, USBRX);
-PwmReader ch3(p16, 0.054, 0.094);
-PwmReader ch6(p15, 0.054, 0.094);
+PwmIn ch3(p16,0.054,0.092);
+PwmIn ch6(p15,0.055,0.092);
 Timer t;
 
 float throttle, frequency, rudder;
@@ -30,19 +32,23 @@
 {
     //ap.calibrate();
     //ap.set2D();
-    ap.setoff();
+    //ap.setoff();
     t.start();
-    while(1) {
+    
+    while(t.read() < 500) {
         
-        float vol_norm=ch3.getDuty();
-        float freq_norm=ch6.getDuty();
+        float vol_norm=ch6.dutycyclescaledup();
+        float freq_norm=ch3.dutycyclescaledup();
+        
         
         pc.printf("channel 3: %f, channel 6: %f\n", vol_norm, freq_norm);
+
         //mcon.drive_rectangular(t.read(), vol_norm*freq_norm, 3*freq_norm);
+        //mcon.drive_sinusoidal(t.read(), vol_norm*freq_norm, 3*freq_norm);
         mcon.drive_sinusoidal(t.read(), vol_norm*freq_norm, 3*freq_norm);
         //pc.printf("time: %f\n\r", t.read());
         //pc.printf("throttle: %f frequency: %f rudder: %f\n\r",throttle,frequency,rudder);
-        //wait_ms(10);
+        wait_ms(1);
     }
     t.stop();
 }