Oliver Wenzel / Mbed 2 deprecated mbed_amf_controlsystem_iO

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Dependencies:   mbed-rtos mbed

Fork of mbed_amf_controlsystem by Matti Borchers

Diff: main.cpp

Revision:
4:f0be27a5a83a
Parent:
3:391c4639bc7d
Child:
5:4319a748181a
Child:
7:c5940ae7773a
diff -r 391c4639bc7d -r f0be27a5a83a main.cpp
--- a/main.cpp	Thu Feb 04 08:54:06 2016 +0000
+++ b/main.cpp	Thu Feb 04 09:33:42 2016 +0000
@@ -23,6 +23,8 @@
 IMU_RegisterDataBuffer_t *IMU_registerDataBuffer;
 RadioDecoder_RegisterDataBuffer_t *RadioDecoder_registerDataBuffer;
 
+QuadratureController *quadratureController;
+
 // Queues von der Bahnplanung
 Queue<float, 2> quadrature_queue;
 Queue<float, 2> machine_direction_queue;
@@ -92,6 +94,10 @@
     drivePWM.pulsewidth_us(l_PWM);
 }
 
+void redirect_quadrature_controller(void const *args) {
+    quadratureController->cylic_control();
+}
+
 int main() {
     serialMinnow.baud(115200);
 
@@ -102,12 +108,12 @@
 
     SupportSystem *supportSystem = new SupportSystem(0x80, &i2c);
     
-    QuadratureController *quadratureController = new QuadratureController(&steerPWM);
+    quadratureController = new QuadratureController(&steerPWM);
 
     Thread machineDirectionControl(serial_thread);
     
     RtosTimer machine_direction_control_timer(machine_direction_control);
-    RtosTimer quadrature_control_timer(quadratureController->cylic_control);
+    RtosTimer quadrature_control_timer(redirect_quadrature_controller);
 
     // Konfiguration AMF-IMU
     // [0]: Conversation Factor