File content as of revision 6:bea13722aae7:

// TESTING REPO COMMIT

/*
****** MAIN PROGRAM ******

TODO : organisational routine still to be decided.
3 main approaches: 
-sequential prirority based tasks
-Timer/Ticker driven with sequential prirority based tasks
- interrupt driven from sensor inputs

Please consider that although it is an embedded envrionment we are NOT creating a HARD-TIME real time system - delays can be dealt with
*/



#include "mbed.h"
#include "sensor_measure.h"
#include "Motor_Driver.h"

#define PWM_PERIOD_US 10000

// Pulses sets how many edges to detect before returning a time, max of 2^16, affectively refers to sample time
// Clock divider set by prescalar function where division value is 2^n
extern "C" void setup(int pulses, int prescalar);

int main() {
    
    /*
    Motor_Driver motors(PTD4, PTA12, PTA4, PTA5, PTC9, PTC8, PWM_PERIOD_US);
    
    motors.setSpeed(1.0f);
    motors.forward();
    motors.start();
    
    wait(3);
    
    motors.stop()
    motors.reverse();
    wait(200ms);
    
    motors.start();
    */ 
    setup(1000, 0);
    
    sensor_initialise(); // initialise sensor values
    wait(1); //give time to set up the system
        
}