jetfishteam / Mbed 2 deprecated jetfish

the fish that looks like a jet

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo

main.cpp

Committer:
sandwich
Date:
2014-01-24
Revision:
3:666c1bae1a34
Parent:
2:430c068cf570
Parent:
1:80e0af42f876
Child:
5:090ef6275773

File content as of revision 3:666c1bae1a34:

#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);
    }
}