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();
}