Diff: main.cpp

Revision:

0:22b18227d29e

Child:

1:acb2e0f9d1bc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jul 19 03:29:42 2013 +0000
@@ -0,0 +1,46 @@
+#include <stdint.h>
+#include "mbed.h"
+#include "SharedObject.h"
+#include "RefRX.h"
+#include "esc.h"
+
+namespace SharedResources
+{
+    SharedObject <uint32_t> ref1 (0);
+    SharedObject <uint32_t> ref2 (0);
+    SharedObject <uint32_t> ref3 (0);
+    SharedObject <uint32_t> ref4 (0);
+    SharedObject <float>    integration_time (0);
+};
+
+
+int main()
+{
+    //Setup ESCs
+    ESC esc1(p26);
+    ESC esc2(p27);
+    ESC esc3(p28);
+    ESC esc4(p29);
+    
+    //Setup RefRX static class for remote control
+    RefRX::init(2222, 2223, &SharedResources::ref1, &SharedResources::ref2, &SharedResources::ref3, &SharedResources::ref4);
+    
+    
+    //Begins main control loop
+    while(1) {
+        
+        
+        //compute new ESC values..
+        
+        //set it
+        esc1.setThrottle(0.5);
+        
+        //finally output to ESCs
+        esc1.pulse();
+        esc2.pulse();
+        esc3.pulse();
+        esc4.pulse();
+        
+        Thread::wait(15);
+    }
+}