Diff: main.cpp

Revision:

6:0682e1c90119

Parent:

4:25e028102625

Parent:

5:577b582e4fe9

Child:

8:92f6baeea027

--- a/main.cpp	Thu Feb 02 23:30:41 2017 +0000
+++ b/main.cpp	Fri Feb 03 04:06:50 2017 +0000
@@ -2,33 +2,51 @@
 
 //#include "Motor.h"
  
+//#include "Camera.h"
+
+#include "USBHIDServer.h"
  
 PwmOut servo(PTE20);
-
 //DigitalOut DIR_L(PTA13, 1);
 //DigitalOut DIR_R(PTC9, 1);
-
 //PwmOut PWM_L(PTD0);
 //PwmOut PWM_R(PTD5);
+DigitalOut led(LED1, 1);
 
 int main(void) {
     servo.period(0.020);
+    
+    //Camera cam;
+    
     //Motor motor;
  
     //PWM_L.period_us(60);
     //PWM_R.period_us(60);
     
-    while (1) {
-        //motor.setLeftSpeed(20);
-        //motor.setRightSpeed(20);
-        //PWM_L.pulsewidth_us(60);
-        //PWM_R.pulsewidth_us(60);
-        //servo.pulsewidth(0.0015);
+    USBHIDServer server;
+    
+    unsigned int testCount = 0;
+    unsigned int testCount2 = 0;
+    char buf[5];
+    
+    //motor.setLeftSpeed(20);
+    //motor.setRightSpeed(20);
+    //PWM_L.pulsewidth_us(60);
+    //PWM_R.pulsewidth_us(60);
+    //servo.pulsewidth(0.0015);
         
-        for(float offset=0.0; offset<0.001; offset+=0.0001) 
+    while (1) 
+    {
+        led = 0;
+        server.Update(0.0f);
+        testCount++;
+        if(testCount >= 10000)
         {
-            servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
-            wait(0.25);
+            testCount2++;
+            sprintf(buf, "%d", testCount2);
+            //server.PushUnreliableMsg('D', "Test Message!");
+            server.PushUnreliableMsg('D', buf);
+            testCount = 0;
         }
         
         wait(0.1);