the fish that looks like a jet
Dependencies: ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo
Diff: main.cpp
- Revision:
- 12:7eeb29892625
- Parent:
- 11:8ec915eb70f6
diff -r 8ec915eb70f6 -r 7eeb29892625 main.cpp --- a/main.cpp Fri Jan 31 19:36:28 2014 +0000 +++ b/main.cpp Sat Feb 01 00:03:40 2014 +0000 @@ -1,80 +1,28 @@ #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) { + while(true) { - - //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); + pc.printf("frq: %f, vol: %f, amp: %f, rud: %f, dut: %f, t: %f\n", + mainCtrl.getFrequency(), mainCtrl.getVolume(), mainCtrl.getAmplitude(), mainCtrl.getRudder(), mainCtrl.getDutyCycle(),t.read()); + wait_ms(100); } - t.stop(); - mainCtrl.stop(); + //t.stop(); + //mainCtrl.stop(); }