Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
181:d3510c8beab6
Parent:
180:a783a972a867
Child:
184:633119bb0b77
--- a/main.cpp	Fri Feb 09 00:48:26 2018 +0000
+++ b/main.cpp	Fri Feb 09 03:49:31 2018 +0000
@@ -157,10 +157,6 @@
     return control.torque_percent > 0.01f || fabsf(read.w) > W_SAFE;
 }
 
-float update_filter(float old, float x, float str) {
-    return str * old + (1.0f - str) * x;
-}
-
 void log() {
     float packet[8];
     packet[0] = read.w / 8.0f;
@@ -197,6 +193,7 @@
     th = new LimitingThrottleMapper(1500.0f);
 
     BREMSInit(&io, &read, &foc, &control, false);
+    io.pc->attach(rxCallback);
     
     for (;;) {
         io.logger->flush();