Diff: main.cpp

Revision:

3:a4677501ae87

Parent:

2:0de4854743f7

--- a/main.cpp	Thu Jun 10 01:23:00 2021 +0000
+++ b/main.cpp	Tue Nov 30 08:13:05 2021 +0000
@@ -4,27 +4,36 @@
  *
  * @file    
  * @author  Ahn semin <asm5206@gmail.com>
- * @date    2021.06.09
- * @version 1.1.0
+ * @date    2021.08.17
+ * @version 1.2.1
  *
  * @section DESCRIPTION
  * 
  * Control board
  * 2021.06.09 Ahn: V1.1.0, Add delay on ssr control sequence
  *                  SSR logic change npn
+ * 2021.07.19 Ahn: V1.1.0b, add relay off in finish state
+ * 2021.07.20 Ahn: V1.2.0c, remove bt receive loginfo
+ * 2021.07.27 Ahn: V1.1.0e, Compatible to various robot types
+ * 2021.07.29 Ahn: V1.2.0, Add satety lidar warining ignorance pin
+ * 2021.08.09 Ahn: V1.2.1, Change baudrate to 115200 & add Emergency for ModelI
+                    nightly, Fix SSR control(too many relay off occurs imu data discontinuity)
+ * 2021.08.19 Ahn: V1.2.2, fix imu data discontinuity during autocharge state
+ * 2021.10.08 Ahn: V1.2.4, Add some pins for model I ( scrubber control )
  */
 
-#include "mbedHeader.hpp"
-#include "robotConfig.h"
-#include "rosHeader.hpp"
-#include "moduleHeader.hpp"
-#include "defineHeader.h"
-#include "instanceHeader.hpp"
-#include "myUtil.hpp"
-#include "globalVariable.h"
-#include "initFunction.hpp"
-#include "threadDeclaration.hpp"
-#include "callbackHeader.hpp"
+#include "src/mbedHeader.hpp"
+#include "configurations/robotConfig.h"
+#include "src/rosHeader.hpp"
+#include "src/moduleHeader.hpp"
+#include "variables/defineHeader.h"
+#include "variables/instanceHeader.hpp"
+#include "src/myUtil.hpp"
+#include "variables/globalVariable.h"
+#include "src/initFunction.hpp"
+#include "src/threadDeclaration.hpp"
+#include "src/callbackHeader.hpp"
+#include "configurations/robotConfig.h"
 
 /* function protopytes begin ------------------------------------------------ */
 
@@ -33,13 +42,12 @@
 
 /* Instancs begin ----------------------------------------------------------- */
 #ifdef NO_ROS
-mbed::Serial pc(USBTX, USBRX);
+mbed::Serial pc(USBTX, USBRX); // maybe after systemcoreclockupdate???
 #else
 ros::NodeHandle nh;
 #endif
 
 Serial bt(BT_TX,BT_RX);
-#define CALIBRATION_MODE 1
 /* Instancs end ------------------------------------------------------------- */
 int main() {
     SystemCoreClockUpdate();
@@ -58,4 +66,4 @@
     return 0;
 }
 
-/***** EOF *****/
+/***** EOF *****/
\ No newline at end of file