jetfishteam / Mbed 2 deprecated robotic_fish_ver_4_9_pixy

My modifications/additions to the code

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 Servo fishgait mbed-rtos mbed pixy_cam

Fork of robotic_fish_ver_4_8 by jetfishteam

main.cpp@0:ff9bc5f69c57, 2014-01-21 (annotated)

Committer:
sandwich
Date:
Tue Jan 21 21:32:05 2014 +0000
Revision:
0:ff9bc5f69c57
Child:
1:80e0af42f876
Child:
2:430c068cf570
pololu motor controller works with sine waveform input. IMU is untested

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 0:ff9bc5f69c57 3 #include "IMU.h"
sandwich 0:ff9bc5f69c57 4
sandwich 0:ff9bc5f69c57 5 PololuMController mcon(p22, p6, p5);
sandwich 0:ff9bc5f69c57 6 IMU imu(0.1, 0.3, 0.005, 0.005);
sandwich 0:ff9bc5f69c57 7
sandwich 0:ff9bc5f69c57 8 int main() {
sandwich 0:ff9bc5f69c57 9 Timer t;
sandwich 0:ff9bc5f69c57 10 t.start();
sandwich 0:ff9bc5f69c57 11 while(1) {
sandwich 0:ff9bc5f69c57 12 /* if (speed>=1)
sandwich 0:ff9bc5f69c57 13 {
sandwich 0:ff9bc5f69c57 14 speed=0;
sandwich 0:ff9bc5f69c57 15 mcon.reverse();
sandwich 0:ff9bc5f69c57 16 }
sandwich 0:ff9bc5f69c57 17 mcon.setspeed(speed);
sandwich 0:ff9bc5f69c57 18 */
sandwich 0:ff9bc5f69c57 19 mcon.drive_sinusoidal(t.read(), 1, 0.25*3.14, 0);
sandwich 0:ff9bc5f69c57 20 wait(0.2);
sandwich 0:ff9bc5f69c57 21 }
sandwich 0:ff9bc5f69c57 22 t.stop();
sandwich 0:ff9bc5f69c57 23 }