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

Files at this revision

API Documentation at this revision

Revision 18:9ba4566f2361, committed 2014-05-22

Comitter:
rkk
Date:
Thu May 22 13:35:01 2014 +0000
Parent:
17:6970aef8154b
Child:
19:655db88b045c
Commit message:
bang bang yaw control

Changed in this revision

MainController.cpp Show annotated file Show diff for this revision Revisions of this file
MainController.h Show annotated file Show diff for this revision Revisions of this file 
--- a/MainController.cpp	Thu May 22 04:32:19 2014 +0000
+++ b/MainController.cpp	Thu May 22 13:35:01 2014 +0000
@@ -7,9 +7,9 @@
      ch4(p17,0.055,0.092), //rudder
      ch6(p15,0.055,0.092), //volume
      mcon(p22, p6, p7), // change pin p5 to p7, because p5 is burned through
-     ap(p25, p26),
-     leftservo(p21),
-     rightservo(p22)
+     ap(p25, p26)//,
+     //leftservo(p21),
+     //rightservo(p22)
      
 {
     wait_ms(50);
@@ -70,9 +70,9 @@
     }
     
     //Set Servo Values
-    pitch = this->calculatePitch();
-    leftservo = pitch;
-    rightservo = 1.0 - pitch;
+    //pitch = this->calculatePitch();
+    //leftservo = pitch;
+    //rightservo = 1.0 - pitch;
        
 //    if (curTime > 1/(2*frq) && (switched == false))
 //    {

--- a/MainController.h	Thu May 22 04:32:19 2014 +0000
+++ b/MainController.h	Thu May 22 13:35:01 2014 +0000
@@ -61,8 +61,8 @@
     PwmIn ch6;
     PololuMController mcon;
     Guardian ap;
-    Servo leftservo;
-    Servo rightservo;
+    //Servo leftservo;
+    //Servo rightservo;
     
     Timer timer1;
     Ticker ticker1;