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
00001 #include "mbed.h" 00002 //#include "rtos.h" 00003 #include "Servo.h" 00004 //#include "rtos.h" 00005 //#include "PwmReader.h" 00006 //#include "PwmIn.h" 00007 #include "MainController.h" 00008 Serial pc(USBTX, USBRX); 00009 //Serial syren(p9,p10); //syren replaced the pololu controller 00010 Timer t; 00011 00012 int main() 00013 { 00014 //syren.baud(38400); 00015 t.start(); 00016 00017 MainController mainCtrl; 00018 00019 mainCtrl.start(); 00020 00021 printf("started\n"); 00022 while(true) { 00023 //pc.printf("control: %d, frq: %.3f, vol: %.2f, amp: %.3f, yaw: %.2f, dut: %.2f, pit: %.2f, adj: %.2f, t: %.2f\n", 00024 // mainCtrl.getOpMode(), mainCtrl.getFrequency(), mainCtrl.getVolume(), mainCtrl.getAmplitude(), mainCtrl.getYaw(), mainCtrl.getDutyCycle(), mainCtrl.getPitch(), mainCtrl.getAdj(), t.read()); 00025 00026 //syren.putc(int(mainCtrl.getDutyCycle())); 00027 //wait_ms(100); 00028 } 00029 //t.stop(); 00030 //mainCtrl.stop(); 00031 }
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