Diff: MainController.h

Revision:

25:4f2f441eceec

Parent:

24:9d75ed1462d6

--- a/MainController.h	Fri Jun 06 19:48:01 2014 +0000
+++ b/MainController.h	Fri Jul 11 14:30:36 2014 +0000
@@ -1,6 +1,6 @@
 #ifndef MBED_MAINCONTROLLER_H
 #define MBED_MAINCONTROLLER_H
- 
+
 #include "mbed.h"
 #include "rtos.h"
 #include "PwmIn.h"
@@ -9,31 +9,33 @@
 //#include "IMU.h"
 #include "Servo.h"
 #include "pixy.h"
+#include "servoloop.h"
 
 
 
 #define MATH_PI 3.14159265359
 #define START_THREAD 1
- 
+
 /** MainController class to get control inputs and place them onto the system
- * 
- * 
+ *
+ *
  */
-class MainController {
+class MainController
+{
 public:
     /** Create a MainController
      *
-     * @param 
-     */ 
+     * @param
+     */
     MainController() ;
     ~MainController();
-    
+
     /** Start the main controller
      *
-     * @returns 
+     * @returns
      */
     void start();
-    
+
     float getDutyCycle();
     float getFrequency();
     float getVolume();
@@ -45,12 +47,12 @@
 
     /** Stop the main controller
      *
-     * @returns 
+     * @returns
      */
     void stop();
-    
- 
-protected:        
+
+
+protected:
     void control();
     void trackTarget();
     float calculateFrequency();
@@ -60,7 +62,7 @@
     float calculateAdj();
     float signum(float input);
     float saturate(float input);
-    
+
 private:
     PwmIn ch1;
     PwmIn ch2;
@@ -72,19 +74,23 @@
     //Guardian ap;
     Servo leftservo;
     Servo rightservo;
-    
+    ServoLoop panLoop;
+    ServoLoop tiltLoop;
+
     pixySPI pcam;
-    
+
     Timer timer1;
     Ticker ticker1;
     //RtosTimer controlTimer;
     Ticker tracker;
-    Mutex dutyMutex;
-    Thread dutyThread;
-    static void dutyThreadStarter(void const* p);
+    Mutex trackMutex;
+    //Thread dutyThread;
+    //static void dutyThreadStarter(void const* p);
+    Thread controlThread;
+    static void controlThreadStarter(void const* p);
     void updateDutyCycle();
-    //Thread trackerThread;
-    //static void trackerThreadStarter(void const *p);
+    Thread trackerThread;
+    static void trackerThreadStarter(void const *p);
     float amp;
     float ampCmd;
     float frq;
@@ -104,7 +110,8 @@
     float pitAvg;
     float alPi;
 };
- 
+
+
 #endif