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:
- rkk
- Date:
- 2014-01-31
- Revision:
- 11:8ec915eb70f6
- Parent:
- 10:d9f1037f0cb0
- Child:
- 12:7eeb29892625
File content as of revision 11:8ec915eb70f6:
#include "mbed.h" //#include "motor_controller.h" #include "guardian.h" //#include "IMU.h" #include "Servo.h" //#include "rtos.h" //#include "PwmReader.h" //#include "PwmIn.h" #include "MainController.h" //bool quit=false; //InterruptIn event(p16); //Servo servo(p21); //Guardian ap(p21, p23, p24, p25, p26, p26); //Serial xbee(p13, p14); Serial pc(USBTX, USBRX); // Timer t; // // //int counter; //int divisions; //float vol,frq; //PwmOut led(LED1); //void dosomething () //{ // if( counter == divisions) { // ticker1.detach(); // vol = ch6.dutycyclescaledup(); // frq = ch3.dutycyclescaledup(); // counter = 0; // ticker1.attach(&dosomething,1/(frq*float(divisions))); // } // // // // } // // //void startsomething() //{ // counter = 0; // divisions = 20; // // // ticker1.attach(&dosomething,1/(frq*float(divisions))); //} int main() { //ap.calibrate(); //ap.set2D(); //ap.setoff(); t.start(); MainController mainCtrl; //startsomething(); mainCtrl.start(); while(t.read() < 500) { //mcon.drive_rectangular(t.read(), vol_norm*freq_norm, 3*freq_norm); //mcon.drive_sinusoidal(t.read(), vol_norm*freq_norm, 3*freq_norm); //float dutycycle = mcon.drive_sinusoidal(t.read(), vol_norm*freq_norm, freq_norm); pc.printf("frq: %f, vol: %f, amp: %f, dut: %f\n", mainCtrl.getFrequency(), mainCtrl.getVolume(), mainCtrl.getAmplitude(),mainCtrl.getDutyCycle() ); //pc.printf("time: %f\n\r", t.read()); //pc.printf("throttle: %f frequency: %f rudder: %f\n\r",throttle,frequency,rudder); wait_ms(100); } t.stop(); mainCtrl.stop(); }