Diff: main.cpp

Revision:

6:a4d6f3e4bf28

Parent:

5:090ef6275773

Child:

7:e005cfaff8d1

--- a/main.cpp	Tue Jan 28 23:59:21 2014 +0000
+++ b/main.cpp	Wed Jan 29 05:04:50 2014 +0000
@@ -5,6 +5,14 @@
 #include "Servo.h"
 #include "rtos.h"
 #include "PwmReader.h"
+
+#define THROTTLE_MAX 0.4
+#define THROTTLE_MIN 0.2
+#define FREQUENCY_MAX 0.4
+#define FREQUENCY_MIN 0.2
+#define RUDDER_MAX 0.4
+#define RUDDER_MIN 0.2
+
 bool quit=false;
 
 PololuMController mcon(p22, p6, p5);
@@ -13,22 +21,25 @@
 Serial xbee(p13, p14);
 Serial pc(USBTX, USBRX);
 
+float throttle, frequency, rudder;
 
 //IMU imu(0.1, 0.3, 0.005, 0.005);
 void motor_thread(void const *args) {
     
     Timer t;
     t.start();
-    PwmReader thrDutyCycl(p7);
-    
-    PwmReader freqDutyCycl(p8);   
+    PwmReader thrDutyCycl(p7, THROTTLE_MIN, THROTTLE_MAX);
+    PwmReader freqDutyCycl(p8, FREQUENCY_MIN, FREQUENCY_MAX);   
+    PwmReader rudDutyCycl(p9, RUDDER_MIN, RUDDER_MAX);
     
     while (quit==false) {     
-        float td = thrDutyCycl.getDuty();
-        float fd = freqDutyCycl.getDuty();
-        pc.printf("throttle: %f frequency: %f\n",td,fd);
-        mcon.drive_sinusoidal(t.read(), 1, 2*3.141 ,0); // (time,amplitude,frequency,freqoffset)
-        Thread::wait(10);
+        throttle = thrDutyCycl.getDuty();
+        frequency = freqDutyCycl.getDuty();
+        rudder = rudDutyCycl.getDuty();
+        
+        
+        mcon.drive_sinusoidal(t.read(), throttle, frequency); // (time,amplitude,frequency,freqoffset)
+        Thread::wait(5);
     }
     t.stop();
 }
@@ -48,8 +59,10 @@
 //            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(10);
+          Thread::wait(500);
     }
 }