Updated version with comments
Dependencies: IMU MODSERIAL Servo mbed
Fork of RTOS_Controller_v3 by
main.cpp
- Committer:
- aolgu003
- Date:
- 2016-07-27
- Revision:
- 6:b45b74fd6a07
- Parent:
- 5:07bbe020eb65
- Child:
- 7:396fa2a8648d
File content as of revision 6:b45b74fd6a07:
// Continuously sweep the servo through it's full range #include "mbed.h" #include "vessel.h" 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.SetXPID(0,0,0); seagoat.SetYPID(0,0,0); seagoat.SetZPID(0,0,0); t.start(); while(t.read() < 5){ seagoat.calibrate(); //pc.printf("%f \n", t.read()); } t.stop(); pc.printf("Seagoat Ready to Go\n\r"); //seagoat.motorTest(); while(1) { //seagoat.motorTest(); seagoat.update(); seagoat.updateCommand(); wait(0.01); } }