the fish that looks like a jet
Dependencies: ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo
main.cpp
- Committer:
- sandwich
- Date:
- 2014-01-30
- Revision:
- 7:e005cfaff8d1
- Parent:
- 6:a4d6f3e4bf28
- Child:
- 8:0574a5db1fc4
File content as of revision 7:e005cfaff8d1:
#include "mbed.h" #include "motor_controller.h" #include "guardian.h" //#include "IMU.h" #include "Servo.h" //#include "rtos.h" #include "PwmReader.h" #define THROTTLE_MAX 0.4 #define THROTTLE_MIN 0.2 #define FREQUENCY_MAX 0.4 #define FREQUENCY_MIN 0.2 #define RUDDER_MAX 0.4 #define RUDDER_MIN 0.2 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); PwmReader ch3(p16, 0.054, 0.094); PwmReader ch6(p15, 0.054, 0.094); Timer t; float throttle, frequency, rudder; int main() { //ap.calibrate(); //ap.set2D(); ap.setoff(); t.start(); while(1) { float vol_norm=ch3.getDuty(); float freq_norm=ch6.getDuty(); pc.printf("channel 3: %f, channel 6: %f\n", vol_norm, freq_norm); //mcon.drive_rectangular(t.read(), vol_norm*freq_norm, 3*freq_norm); mcon.drive_sinusoidal(t.read(), vol_norm*freq_norm, 3*freq_norm); //pc.printf("time: %f\n\r", t.read()); //pc.printf("throttle: %f frequency: %f rudder: %f\n\r",throttle,frequency,rudder); //wait_ms(10); } t.stop(); }