Diff: main.cpp

Revision:

12:7eeb29892625

Parent:

11:8ec915eb70f6

--- a/main.cpp	Fri Jan 31 19:36:28 2014 +0000
+++ b/main.cpp	Sat Feb 01 00:03:40 2014 +0000
@@ -1,80 +1,28 @@
 #include "mbed.h"
-//#include "motor_controller.h"
-#include "guardian.h"
-//#include "IMU.h"
 #include "Servo.h"
 //#include "rtos.h"
 //#include "PwmReader.h"
 //#include "PwmIn.h"
 #include "MainController.h"
 
-//bool quit=false;
-
-//InterruptIn event(p16);
-
-//Servo servo(p21);
-//Guardian ap(p21, p23, p24, p25, p26, p26);
-//Serial xbee(p13, p14);
 Serial pc(USBTX, USBRX);
-//
 Timer t;
-//
-//
-//int counter;
-//int divisions;
-//float vol,frq;
-//PwmOut led(LED1);
-
-//void dosomething ()
-//{
-//    if( counter == divisions) {
-//        ticker1.detach();
-//        vol = ch6.dutycyclescaledup();
-//        frq = ch3.dutycyclescaledup();
-//        counter = 0;
-//        ticker1.attach(&dosomething,1/(frq*float(divisions)));
-//    }
-//    
-//    
-//    
-//    }
-//
-//
-//void startsomething()
-//{
-//    counter = 0;
-//    divisions = 20;
-//
-//    
-//    ticker1.attach(&dosomething,1/(frq*float(divisions)));
-//}
 
 int main()
 {
-    //ap.calibrate();
-    //ap.set2D();
-    //ap.setoff();
     t.start();
     
     MainController mainCtrl;
-    
-    
-    //startsomething();
-    
+       
     mainCtrl.start();
-    
 
-    while(t.read() < 500) {
+    while(true) {
   
-        
-        //mcon.drive_rectangular(t.read(), vol_norm*freq_norm, 3*freq_norm);
-        //mcon.drive_sinusoidal(t.read(), vol_norm*freq_norm, 3*freq_norm);
-        //float dutycycle = mcon.drive_sinusoidal(t.read(), vol_norm*freq_norm, freq_norm);
-        pc.printf("frq: %f, vol: %f, amp: %f, dut: %f\n", mainCtrl.getFrequency(), mainCtrl.getVolume(), mainCtrl.getAmplitude(),mainCtrl.getDutyCycle() );
-        //pc.printf("time: %f\n\r", t.read());
-        //pc.printf("throttle: %f frequency: %f rudder: %f\n\r",throttle,frequency,rudder);
+        pc.printf("frq: %f, vol: %f, amp: %f, rud: %f, dut: %f, t: %f\n",
+         mainCtrl.getFrequency(), mainCtrl.getVolume(), mainCtrl.getAmplitude(), mainCtrl.getRudder(), mainCtrl.getDutyCycle(),t.read());
+
         wait_ms(100);
     }
-    t.stop();
-    mainCtrl.stop();
+    //t.stop();
+    //mainCtrl.stop();
 }