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
main.cpp
- Committer:
- sandwich
- Date:
- 2014-01-24
- Revision:
- 2:430c068cf570
- Parent:
- 0:ff9bc5f69c57
- Child:
- 3:666c1bae1a34
File content as of revision 2:430c068cf570:
#include "mbed.h" #include "motor_controller.h" #include "guardian.h" #include "IMU.h" #include "Servo.h" #include "rtos.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(); while (quit==false) { mcon.drive_sinusoidal(t.read(), 1, 2*3.14, 0); } t.stop(); } int main() { Thread thread(motor_thread); ap.calibrate(); ap.set2D(); while(1) { char buf[128]; if (xbee.readable()) { xbee.gets(buf, 128); pc.puts(buf); } memset(buf, 0, 128); } }