Diff: main.cpp

Revision:

11:8ec915eb70f6

Parent:

10:d9f1037f0cb0

Child:

12:7eeb29892625

--- a/main.cpp	Fri Jan 31 05:18:19 2014 +0000
+++ b/main.cpp	Fri Jan 31 19:36:28 2014 +0000
@@ -1,33 +1,54 @@
 #include "mbed.h"
-#include "motor_controller.h"
+//#include "motor_controller.h"
 #include "guardian.h"
 //#include "IMU.h"
 #include "Servo.h"
 //#include "rtos.h"
 //#include "PwmReader.h"
-#include "PwmIn.h"
+//#include "PwmIn.h"
+#include "MainController.h"
 
-#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;
+//bool quit=false;
 
 //InterruptIn event(p16);
-PololuMController mcon(p22, p6, p5);
+
 //Servo servo(p21);
 //Guardian ap(p21, p23, p24, p25, p26, p26);
 //Serial xbee(p13, p14);
 Serial pc(USBTX, USBRX);
-PwmIn ch3(p16,0.054,0.092);
-PwmIn ch6(p15,0.055,0.092);
+//
 Timer t;
+//
+//
+//int counter;
+//int divisions;
+//float vol,frq;
+//PwmOut led(LED1);
 
-float throttle, frequency, rudder;
+//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();
@@ -35,19 +56,25 @@
     //ap.setoff();
     t.start();
     
+    MainController mainCtrl;
+    
+    
+    //startsomething();
+    
+    mainCtrl.start();
+    
+
     while(t.read() < 500) {
+  
         
-        float vol_norm=ch6.dutycyclescaledup();
-        float freq_norm=ch3.dutycyclescaledup();
-           
-
         //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("ch 3: %f, ch 6: %f, dc: %f, asin: %f\n", vol_norm, freq_norm, dutycycle, asin(sin(t.read())) );
+        //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);
-        wait_ms(20);
+        wait_ms(100);
     }
     t.stop();
+    mainCtrl.stop();
 }