Diff: main.cpp

Revision:

7:e005cfaff8d1

Parent:

6:a4d6f3e4bf28

Child:

8:0574a5db1fc4

diff -r a4d6f3e4bf28 -r e005cfaff8d1 main.cpp
--- a/main.cpp	Wed Jan 29 05:04:50 2014 +0000
+++ b/main.cpp	Thu Jan 30 02:04:23 2014 +0000
@@ -1,9 +1,9 @@
 #include "mbed.h"
 #include "motor_controller.h"
 #include "guardian.h"
-#include "IMU.h"
+//#include "IMU.h"
 #include "Servo.h"
-#include "rtos.h"
+//#include "rtos.h"
 #include "PwmReader.h"
 
 #define THROTTLE_MAX 0.4
@@ -15,54 +15,34 @@
 
 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;
-
-//IMU imu(0.1, 0.3, 0.005, 0.005);
-void motor_thread(void const *args) {
-    
-    Timer t;
+int main()
+{
+    //ap.calibrate();
+    //ap.set2D();
+    ap.setoff();
     t.start();
-    PwmReader thrDutyCycl(p7, THROTTLE_MIN, THROTTLE_MAX);
-    PwmReader freqDutyCycl(p8, FREQUENCY_MIN, FREQUENCY_MAX);   
-    PwmReader rudDutyCycl(p9, RUDDER_MIN, RUDDER_MAX);
-    
-    while (quit==false) {     
-        throttle = thrDutyCycl.getDuty();
-        frequency = freqDutyCycl.getDuty();
-        rudder = rudDutyCycl.getDuty();
+    while(1) {
+        
+        float vol_norm=ch3.getDuty();
+        float freq_norm=ch6.getDuty();
         
-        
-        mcon.drive_sinusoidal(t.read(), throttle, frequency); // (time,amplitude,frequency,freqoffset)
-        Thread::wait(5);
+        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();
 }
-
-int main()
-{
-    Thread thread(motor_thread);
-    //ap.calibrate();
-    //ap.set2D();
-    ap.setoff();
-        while(1) {
-        //char buf[128];
-//        if (xbee.readable())
-//        {
-//            xbee.gets(buf, 128);
-//            //xbee.scanf("%d");
-//            pc.puts(buf);
-//        }
-//        memset(buf, 0, 128);
-         
-         //print throttle and frequency to the terminal
-          pc.printf("throttle: %f frequency: %f rudder: %f\n\r",throttle,frequency,rudder);
-               
-          Thread::wait(500);
-    }
-}