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

Diff: MainController.h

Revision:
24:9d75ed1462d6
Parent:
23:ef1be367726e
Child:
25:4f2f441eceec
--- a/MainController.h	Thu Jun 05 17:32:51 2014 +0000
+++ b/MainController.h	Fri Jun 06 19:48:01 2014 +0000
@@ -68,7 +68,6 @@
     PwmIn ch4;
     PwmIn ch6;
     PwmIn ch5;
-    //PololuMController mcon;
     Serial syren; //syren replaced the pololu controller
     //Guardian ap;
     Servo leftservo;
@@ -77,13 +76,15 @@
     pixySPI pcam;
     
     Timer timer1;
-    //Ticker ticker1;
-    //Ticker tracker;
-    Mutex trackMutex;
-    Thread controlThread;
-    static void controlThreadStarter(void const *p);
-    Thread trackerThread;
-    static void trackerThreadStarter(void const *p);
+    Ticker ticker1;
+    //RtosTimer controlTimer;
+    Ticker tracker;
+    Mutex dutyMutex;
+    Thread dutyThread;
+    static void dutyThreadStarter(void const* p);
+    void updateDutyCycle();
+    //Thread trackerThread;
+    //static void trackerThreadStarter(void const *p);
     float amp;
     float ampCmd;
     float frq;