Diff: main.cpp

Revision:

11:92eecb155136

Parent:

9:2d2030d989d8

--- a/main.cpp	Fri Nov 21 18:32:08 2014 +0000
+++ b/main.cpp	Sun Nov 23 02:29:08 2014 +0000
@@ -22,7 +22,7 @@
 
 #define SERVER_PORT   8042
 
-//Watchdog watchdog;
+Watchdog watchdog;
 
 Ticker sensorUpdate;
 Ticker imuUpdate;
@@ -33,7 +33,7 @@
 DigitalOut led4(LED_BLUE);
 
 //Serial pc(USBTX, USBRX); // tx, rx
-MODSERIAL pc(USBTX, USBRX, 8192, 8192); 
+MODSERIAL pc(USBTX, USBRX, 512, 512); 
 //ADXL345_I2C accelerometer(p9, p10);
 //L3G4200D gyro(p9, p10);
 //HMC5883L compass(p9, p10);
@@ -150,7 +150,7 @@
 char sendBuffer[256];
 int charCounter = 0;
 
-char serialBuffer[8192];
+char serialBuffer[512];
 
 // This function is called when a character goes from the TX buffer
 // to the Uart THR FIFO register.
@@ -507,7 +507,7 @@
     int serialReadUnblockCount = 0;
     int serialReadUnblockLimit = 40;
     
-    //watchdog.kick(3);
+    watchdog.kick(3);
     
     while (1) {
         
@@ -579,8 +579,8 @@
                     motor5.setSpeed(0);
                     //dribbler.pulsewidth_us(0);     
                     
-                    pc.rxBufferFlush();
-                    pc.txBufferFlush();                
+                    //pc.rxBufferFlush();
+                    //pc.txBufferFlush();                
                 }                
             }
             
@@ -615,7 +615,7 @@
             
             //led1 = !led1;
             
-            t.stop();
+            /*t.stop();
             float dt = t.read();
             t.reset();
             t.start();
@@ -630,7 +630,7 @@
             
             if (dtMax >= 0.02f) {
                 printf("<dtmax=%.5f>\n", dtMax);
-            }            
+            }*/
             
             isMainUpdate = true;
         }
@@ -672,7 +672,7 @@
                 motor5.getStallLevel());
             server.sendTo(client, sendBuffer, charCount);*/
             pc.printf(
-                "<stall:%d:%d:%d:%d:%d>", 
+                "<stall:%d:%d:%d:%d:%d>\n", 
                 motor1.getStallLevel(),
                 motor2.getStallLevel(),
                 motor3.getStallLevel(),