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

Committer:
sandwich
Date:
2014-01-28
Revision:
5:090ef6275773
Parent:
3:666c1bae1a34
Child:
6:a4d6f3e4bf28

File content as of revision 5:090ef6275773:

#include "mbed.h"
#include "motor_controller.h"
#include "guardian.h"
#include "IMU.h"
#include "Servo.h"
#include "rtos.h"
#include "PwmReader.h"
bool quit=false;

PololuMController mcon(p22, p6, p5);
Servo servo(p21);
Guardian ap(p21, p23, p24, p25, p26, p26);
Serial xbee(p13, p14);
Serial pc(USBTX, USBRX);


//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);   
    
    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);
    }
    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);
               
        
        Thread::wait(10);
    }
}