Diff: main.cpp.orig

Revision:

3:666c1bae1a34

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp.orig	Fri Jan 24 21:58:04 2014 +0000
@@ -0,0 +1,41 @@
+#include "mbed.h"
+#include "motor_controller.h"
+#include "guardian.h"
+#include "IMU.h"
+#include "Servo.h"
+#include "rtos.h"
+
+bool quit=false;
+
+PololuMController mcon(p22, p6, p5);
+Servo servo(p21);
+Guardian ap(p21, p23, p24, p25, p26, p26);
+Serial xbee(p13, p14);
+Serial pc(USBTX, USBRX);
+
+//IMU imu(0.1, 0.3, 0.005, 0.005);
+
+void motor_thread(void const *args) {
+    Timer t;
+    t.start();
+    while (quit==false) {
+        mcon.drive_sinusoidal(t.read(), 1, 2*3.14, 0);
+    }
+    t.stop();
+}
+
+int main()
+{
+    Thread thread(motor_thread);
+    ap.calibrate();
+    ap.set2D();
+    while(1) {
+        char buf[128];
+        if (xbee.readable())
+        {
+            xbee.gets(buf, 128);
+            pc.puts(buf);
+        }
+        memset(buf, 0, 128);
+    }
+}