Andrew Olguin / Mbed 2 deprecated RTOS_Controller_v2

Robosub controller

Dependencies:   IMU MODSERIAL Servo mbed

Fork of RTOS_Controller by Marco Rubio

main.cpp@7:396fa2a8648d, 2016-07-29 (annotated)

Committer:
aolgu003
Date:
Fri Jul 29 15:34:59 2016 +0000
Revision:
7:396fa2a8648d
Parent:
6:b45b74fd6a07 
Fixed issues and integrated with the sub.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gelmes 3:5ffe7e9c0bb3 1 // Continuously sweep the servo through it's full range
gelmes 3:5ffe7e9c0bb3 2 #include "mbed.h"
gelmes 3:5ffe7e9c0bb3 3 #include "vessel.h"
aolgu003 7:396fa2a8648d 4 //#include "MS5803.h"
aolgu003 7:396fa2a8648d 5 //MS5803 big_sensor = MS5803(I2C_SDA, I2C_SCL, ms5803_addrCH);
aolgu003 6:b45b74fd6a07 6
gelmes 3:5ffe7e9c0bb3 7 int main()
gelmes 3:5ffe7e9c0bb3 8 {
gelmes 5:07bbe020eb65 9 Timer t;
gelmes 5:07bbe020eb65 10 wait(3);
gelmes 3:5ffe7e9c0bb3 11 Vessel seagoat; //Starts the seagoat
aolgu003 7:396fa2a8648d 12 seagoat.SetYawPID(1,0,0);
aolgu003 7:396fa2a8648d 13 seagoat.SetRollPID(1,0,0);
aolgu003 7:396fa2a8648d 14 seagoat.SetPitchPID(1,0,0);
gelmes 5:07bbe020eb65 15 seagoat.SetXPID(0,0,0);
gelmes 5:07bbe020eb65 16 seagoat.SetYPID(0,0,0);
gelmes 5:07bbe020eb65 17 seagoat.SetZPID(0,0,0);
gelmes 5:07bbe020eb65 18
gelmes 5:07bbe020eb65 19 t.start();
aolgu003 7:396fa2a8648d 20 while(t.read() < 4){
gelmes 5:07bbe020eb65 21 seagoat.calibrate();
gelmes 5:07bbe020eb65 22
gelmes 5:07bbe020eb65 23 //pc.printf("%f \n", t.read());
gelmes 5:07bbe020eb65 24 }
gelmes 5:07bbe020eb65 25 t.stop();
gelmes 5:07bbe020eb65 26 pc.printf("Seagoat Ready to Go\n\r");
gelmes 5:07bbe020eb65 27 //seagoat.motorTest();
aolgu003 7:396fa2a8648d 28 float depth = 0;
gelmes 4:b37fd183e46a 29 while(1) {
gelmes 5:07bbe020eb65 30 //seagoat.motorTest();
gelmes 4:b37fd183e46a 31 seagoat.update();
aolgu003 6:b45b74fd6a07 32 seagoat.updateCommand();
gelmes 5:07bbe020eb65 33 wait(0.01);
gelmes 4:b37fd183e46a 34 }
gelmes 3:5ffe7e9c0bb3 35 }