the fish that looks like a jet
Dependencies: ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo
Diff: main.cpp.orig
- Revision:
- 3:666c1bae1a34
diff -r 430c068cf570 -r 666c1bae1a34 main.cpp.orig --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp.orig Fri Jan 24 21:58:04 2014 +0000 @@ -0,0 +1,41 @@ +#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); + } +}