Diff: Humain.cpp

Revision:

1:dacf7db790f6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Humain.cpp	Wed Apr 30 05:54:17 2014 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "IMU_RPY.h"
+#include "GameCode.h"
+#include "HumanPosition.h"
+#include "HumanControl.h"
+
+int main()
+{
+    pc.printf("\n\rStartup...\r\n");
+
+    //Reset xbee
+    pc.printf("Resetting XBee...\r\n");
+    rst1 = 0;
+    wait_us(1);
+    rst1 = 1;
+    wait_us(1);
+
+    //Initialize IMU and filter
+    pc.printf("Initializing IMU...\r\n");
+    imuFilter.reset();
+    rpy_init();
+
+    // wait for AI car to get away from user
+    pc.printf("Waiting for AI car...\n\r");
+    wait(10);
+
+    // start positioning system
+    pc.printf("Starting Positioning System...\n\r");
+    Thread position(PositionSystemMain, NULL, osPriorityRealtime, 256 * 4);
+    wait(3); // wait for the mouse sensor to boot up
+
+    // give control to radio driver while game is running
+    pc.printf("Running!\n");
+    Timer sendTimer;
+    sendTimer.start();
+    while(!gameOver) {
+        radioDrive();
+        if(sendTimer.read_ms() % 250)
+            sendPosition(NULL);
+    }
+}