Revision 2:430c068cf570, committed 2014-01-24

Comitter:

sandwich

Date:

Fri Jan 24 21:55:00 2014 +0000

Parent:

0:ff9bc5f69c57

Child:

3:666c1bae1a34

Commit message:

all parts working

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Fri Jan 24 21:55:00 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Servo/#36b69a7ced07

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/guardian.cpp	Fri Jan 24 21:55:00 2014 +0000
@@ -0,0 +1,84 @@
+#include "guardian.h"
+
+Guardian::Guardian(PinName ailpin, PinName modpin, PinName elvpin, PinName rudpin, PinName auxpin, PinName gainpin)
+{
+    ail=new Servo(ailpin);
+    mod=new Servo(modpin);
+    elv=new Servo(elvpin);
+    /*rud=new Servo(rudpin);
+    aux=new Servo(auxpin);
+    */
+    gain=new Servo(gainpin);
+    mod->write(0.5);
+    ail->write(0.5);
+    elv->write(0.5);
+    /*rud->write(0.5);
+    aux->write(0.00);
+    */
+    gain->write(1.00);
+}
+
+Guardian::~Guardian()
+{
+    delete ail, mod, elv, rud, aux, gain;
+}
+
+void Guardian::set3D()
+{
+    mod->write(1.00);
+    return;
+}
+
+void Guardian::set2D()
+{
+    mod->write(0.00);
+    return;
+}
+
+void Guardian::setoff()
+{
+    mod->write(0.5);
+    return;
+}
+
+void Guardian::calibrate() //must be done within 15 sec of power on
+{
+    set2D();
+    wait(500);
+    set3D();
+    wait(500);
+    set2D();
+    wait(2000);
+    //now look for the twitch
+    return;
+}
+
+void Guardian::setail(float val)
+{
+    ail->write(val);
+    return;
+}
+
+void Guardian::setmod(float val)
+{
+    mod->write(val);
+    return;
+}
+
+void Guardian::setelv(float val)
+{
+    elv->write(val);
+    return;
+}
+
+void Guardian::setrud(float val)
+{
+    rud->write(val);
+    return;
+}
+
+void Guardian::setaux(float val)
+{
+    aux->write(val);
+    return;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/guardian.h	Fri Jan 24 21:55:00 2014 +0000
@@ -0,0 +1,26 @@
+#pragma once
+#include "mbed.h"
+#include "Servo.h"
+
+class Guardian
+{
+private:
+Servo* ail;
+Servo* mod;
+Servo* elv;
+Servo* rud;
+Servo* aux;
+Servo* gain;
+public:
+Guardian(PinName ailpin, PinName modpin, PinName elvpin, PinName rudpin, PinName auxpin, PinName gainpin);
+~Guardian();
+void set2D();
+void set3D();
+void setoff();
+void calibrate();
+void setail(float val);
+void setmod(float val);
+void setelv(float val);
+void setrud(float val);
+void setaux(float val);
+};
\ No newline at end of file

--- a/main.cpp	Tue Jan 21 21:32:05 2014 +0000
+++ b/main.cpp	Fri Jan 24 21:55:00 2014 +0000
@@ -1,23 +1,41 @@
 #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);
-IMU imu(0.1, 0.3, 0.005, 0.005);
+Servo servo(p21);
+Guardian ap(p21, p23, p24, p25, p26, p26);
+Serial xbee(p13, p14);
+Serial pc(USBTX, USBRX);
 
-int main() {
+//IMU imu(0.1, 0.3, 0.005, 0.005);
+
+void motor_thread(void const *args) {
     Timer t;
     t.start();
-    while(1) {
-       /* if (speed>=1)
-        {
-            speed=0;
-            mcon.reverse();
-        }
-        mcon.setspeed(speed);
-        */
-        mcon.drive_sinusoidal(t.read(), 1, 0.25*3.14, 0);
-        wait(0.2);
+    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);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Fri Jan 24 21:55:00 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-rtos/#f88660a9bed1