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();