File content as of revision 11:8ec915eb70f6:

#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) {
  
        
        //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);
        wait_ms(100);
    }
    t.stop();
    mainCtrl.stop();
}