jetfishteam / Mbed 2 deprecated jetfish

the fish that looks like a jet

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo

main.cpp@6:a4d6f3e4bf28, 2014-01-29 (annotated)

Committer:
rkk
Date:
Wed Jan 29 05:04:50 2014 +0000
Revision:
6:a4d6f3e4bf28
Parent:
5:090ef6275773
Child:
7:e005cfaff8d1
added pam ira

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 0:ff9bc5f69c57 1 #include "mbed.h"
sandwich 0:ff9bc5f69c57 2 #include "motor_controller.h"
sandwich 2:430c068cf570 3 #include "guardian.h"
sandwich 0:ff9bc5f69c57 4 #include "IMU.h"
sandwich 2:430c068cf570 5 #include "Servo.h"
sandwich 2:430c068cf570 6 #include "rtos.h"
sandwich 5:090ef6275773 7 #include "PwmReader.h"
rkk 6:a4d6f3e4bf28 8
rkk 6:a4d6f3e4bf28 9 #define THROTTLE_MAX 0.4
rkk 6:a4d6f3e4bf28 10 #define THROTTLE_MIN 0.2
rkk 6:a4d6f3e4bf28 11 #define FREQUENCY_MAX 0.4
rkk 6:a4d6f3e4bf28 12 #define FREQUENCY_MIN 0.2
rkk 6:a4d6f3e4bf28 13 #define RUDDER_MAX 0.4
rkk 6:a4d6f3e4bf28 14 #define RUDDER_MIN 0.2
rkk 6:a4d6f3e4bf28 15
sandwich 2:430c068cf570 16 bool quit=false;
sandwich 0:ff9bc5f69c57 17
sandwich 0:ff9bc5f69c57 18 PololuMController mcon(p22, p6, p5);
sandwich 2:430c068cf570 19 Servo servo(p21);
sandwich 2:430c068cf570 20 Guardian ap(p21, p23, p24, p25, p26, p26);
sandwich 2:430c068cf570 21 Serial xbee(p13, p14);
sandwich 2:430c068cf570 22 Serial pc(USBTX, USBRX);
sandwich 0:ff9bc5f69c57 23
rkk 6:a4d6f3e4bf28 24 float throttle, frequency, rudder;
sandwich 5:090ef6275773 25
sandwich 2:430c068cf570 26 //IMU imu(0.1, 0.3, 0.005, 0.005);
sandwich 3:666c1bae1a34 27 void motor_thread(void const *args) {
sandwich 5:090ef6275773 28
sandwich 0:ff9bc5f69c57 29 Timer t;
sandwich 0:ff9bc5f69c57 30 t.start();
rkk 6:a4d6f3e4bf28 31 PwmReader thrDutyCycl(p7, THROTTLE_MIN, THROTTLE_MAX);
rkk 6:a4d6f3e4bf28 32 PwmReader freqDutyCycl(p8, FREQUENCY_MIN, FREQUENCY_MAX);
rkk 6:a4d6f3e4bf28 33 PwmReader rudDutyCycl(p9, RUDDER_MIN, RUDDER_MAX);
sandwich 5:090ef6275773 34
sandwich 5:090ef6275773 35 while (quit==false) {
rkk 6:a4d6f3e4bf28 36 throttle = thrDutyCycl.getDuty();
rkk 6:a4d6f3e4bf28 37 frequency = freqDutyCycl.getDuty();
rkk 6:a4d6f3e4bf28 38 rudder = rudDutyCycl.getDuty();
rkk 6:a4d6f3e4bf28 39
rkk 6:a4d6f3e4bf28 40
rkk 6:a4d6f3e4bf28 41 mcon.drive_sinusoidal(t.read(), throttle, frequency); // (time,amplitude,frequency,freqoffset)
rkk 6:a4d6f3e4bf28 42 Thread::wait(5);
sandwich 0:ff9bc5f69c57 43 }
sandwich 0:ff9bc5f69c57 44 t.stop();
sandwich 0:ff9bc5f69c57 45 }
sandwich 2:430c068cf570 46
sandwich 2:430c068cf570 47 int main()
sandwich 2:430c068cf570 48 {
sandwich 2:430c068cf570 49 Thread thread(motor_thread);
sandwich 5:090ef6275773 50 //ap.calibrate();
sandwich 5:090ef6275773 51 //ap.set2D();
sandwich 5:090ef6275773 52 ap.setoff();
sandwich 5:090ef6275773 53 while(1) {
sandwich 5:090ef6275773 54 //char buf[128];
sandwich 5:090ef6275773 55 // if (xbee.readable())
sandwich 5:090ef6275773 56 // {
sandwich 5:090ef6275773 57 // xbee.gets(buf, 128);
sandwich 5:090ef6275773 58 // //xbee.scanf("%d");
sandwich 5:090ef6275773 59 // pc.puts(buf);
sandwich 5:090ef6275773 60 // }
sandwich 5:090ef6275773 61 // memset(buf, 0, 128);
rkk 6:a4d6f3e4bf28 62
rkk 6:a4d6f3e4bf28 63 //print throttle and frequency to the terminal
rkk 6:a4d6f3e4bf28 64 pc.printf("throttle: %f frequency: %f rudder: %f\n\r",throttle,frequency,rudder);
sandwich 5:090ef6275773 65
rkk 6:a4d6f3e4bf28 66 Thread::wait(500);
sandwich 2:430c068cf570 67 }
sandwich 2:430c068cf570 68 }