Robosub controller
Dependencies: IMU MODSERIAL Servo mbed
Fork of RTOS_Controller by
main.cpp
- Committer:
- aolgu003
- Date:
- 2016-07-29
- Revision:
- 7:396fa2a8648d
- Parent:
- 6:b45b74fd6a07
File content as of revision 7:396fa2a8648d:
// 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(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() < 4){ seagoat.calibrate(); //pc.printf("%f \n", t.read()); } t.stop(); pc.printf("Seagoat Ready to Go\n\r"); //seagoat.motorTest(); float depth = 0; while(1) { //seagoat.motorTest(); seagoat.update(); seagoat.updateCommand(); wait(0.01); } }