main.cpp

00001 // Continuously sweep the servo through it's full range
00002 #include "mbed.h"
00003 #include "vessel.h"
00004 //#include "MS5803.h"
00005 //MS5803 big_sensor = MS5803(I2C_SDA, I2C_SCL, ms5803_addrCH);
00006 
00007 int main()
00008 {  
00009     Timer t;
00010     wait(3);
00011     // Creates a vessel object called seagoat
00012     // The vessel object constains the controller, sensor updates, and reads
00013     // command sent from PC
00014     Vessel seagoat; //Starts the seagoat
00015     
00016     // This section initializes PID gain
00017     seagoat.SetYawPID(1,0,0);  
00018     seagoat.SetRollPID(1,0,0);    
00019     seagoat.SetPitchPID(1,0,0);    
00020     seagoat.SetXPID(0,0,0);    
00021     seagoat.SetYPID(0,0,0);    
00022     seagoat.SetZPID(0,0,0);    
00023     
00024     t.start();
00025     while(t.read() < 4){
00026          seagoat.calibrate();
00027          
00028          //pc.printf("%f \n", t.read());
00029     }
00030     t.stop();
00031     pc.printf("Seagoat Ready to Go\n\r");
00032     //seagoat.motorTest();
00033     float depth = 0;
00034     while(1) {
00035         //seagoat.motorTest();
00036         seagoat.update();
00037         //seagoat.updateCommand();
00038         wait(0.01);
00039     }
00040 }