Robosub controller
Dependencies: IMU MODSERIAL Servo mbed
Fork of RTOS_Controller by
Diff: main.cpp
- Revision:
- 7:396fa2a8648d
- Parent:
- 6:b45b74fd6a07
--- a/main.cpp Wed Jul 27 02:45:45 2016 +0000 +++ b/main.cpp Fri Jul 29 15:34:59 2016 +0000 @@ -1,22 +1,23 @@ // Continuously sweep the servo through it's full range #include "mbed.h" #include "vessel.h" - +//#include "MS5803.h" +//MS5803 big_sensor = MS5803(I2C_SDA, I2C_SCL, ms5803_addrCH); int main() { Timer t; wait(3); Vessel seagoat; //Starts the seagoat - seagoat.SetYawPID(4,0,0); - seagoat.SetRollPID(4,0,0); - seagoat.SetPitchPID(4,0,0); + seagoat.SetYawPID(1,0,0); + seagoat.SetRollPID(1,0,0); + seagoat.SetPitchPID(1,0,0); seagoat.SetXPID(0,0,0); seagoat.SetYPID(0,0,0); seagoat.SetZPID(0,0,0); t.start(); - while(t.read() < 5){ + while(t.read() < 4){ seagoat.calibrate(); //pc.printf("%f \n", t.read()); @@ -24,9 +25,8 @@ t.stop(); pc.printf("Seagoat Ready to Go\n\r"); //seagoat.motorTest(); - + float depth = 0; while(1) { - //seagoat.motorTest(); seagoat.update(); seagoat.updateCommand();