Raharja Agie
Read IMU data at Serial port (p28, p27), data rate <100Hz @115200bps Read 5 channels PPM signal at p11 using InterruptIn Send data via RF Modem at serial port (p13, p14) in 36Hz @115200 Drive i2C motor speed controller at I2C port (p9, p10) in every 10mS (control loop delay time)
Diff: main.cpp
- Revision:
- 0:7ccd56e1c3b1
diff -r 000000000000 -r 7ccd56e1c3b1 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Aug 11 01:23:42 2010 +0000
@@ -0,0 +1,27 @@
+#include "mbed.h"
+#include "Set_up.h"
+#include "data_struct.h"
+#include "ahrs.h"
+#include "to_gcs.h"
+#include "i2C.h"
+#include "rcrx.h"
+
+int main() {
+ setup();
+ SendData.attach(&toGCS, 0.02777);
+ Proccess.attach(&eyetosee, 0.1);
+ ahrs.attach(&ahrs_rec);
+ rc.rise(&PPM_rise); // attach the address of the PPM_rise function to the rising edge
+ rc.fall(&PPM_fall); // attach the address of the PPM_fall function to the falling edge
+ wait(0.5);
+
+ while(1) {
+ eyetosee();
+ myled = !myled;
+ for(char i=0; i<6; i++){
+ printf("%d\t", buf_ppm[i]);
+ if(i == 5) printf("\n");
+ wait(0.02);
+ }
+ }
+}
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