Work in progress...
Dependencies: ESC FreeIMU mbed-rtos mbed
Experiment - work in progress...
main.cpp
- Committer:
- MatteoT
- Date:
- 2013-07-19
- Revision:
- 0:22b18227d29e
- Child:
- 1:acb2e0f9d1bc
File content as of revision 0:22b18227d29e:
#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); } }