Diff: main.cpp

Revision:

0:d463d5c04541

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 16 05:32:33 2011 +0000
@@ -0,0 +1,48 @@
+#include "mbed.h"
+#include "define.h"
+#include "setup.h"
+#include "struct.h"
+
+int loop_cnt = 0, init_cnt = 0;
+
+#include "pid.h"
+#include "i2c.h"
+#include "rc.h"
+
+#include "2gcs.h"
+#include "gps.h"
+#include "2fcs.h"
+
+#include "ahrs.h"
+
+void init(){
+    Yaw_ref = fcc.yaw;
+    init_cnt++;
+}    
+    
+int main() {
+    setup();
+    securinit();     
+    rc.rise(&PPM_rise);    // attach the address of the PPM_rise function to the rising edge   
+    wait(0.5);
+    
+    while(1) {           // wait around, interrupts will interrupt this!        
+        if(ahrs.readable())ahrs_rec();
+        
+        if(radio.readable())radio.putc(radio.getc());//getGCS();
+        if(loop_cnt>10000){
+            getrc();
+            pid();
+            moteq();
+            updatei2c();        
+            loop_cnt = 0;   
+            //rcprint();               
+            if(bat > 0.8) myled = 1;
+            else myled = !myled;
+        }   
+        loop_cnt++;                  
+       
+    }
+}
+
+   
\ No newline at end of file