Pedro Enrique Vidal Peñas / Mbed 2 deprecated quadcopter

Gestion de imu y arranque de motores cuadcopter primera fase

Dependencies:   mbed Servo

main.cpp@0:ce49c05e9d73, 2011-02-22 (annotated)

Committer:
cr0n0s20
Date:
Tue Feb 22 22:08:30 2011 +0000
Revision:
0:ce49c05e9d73
cuadcopter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cr0n0s20 0:ce49c05e9d73 1 #include "mbed.h"
cr0n0s20 0:ce49c05e9d73 2 #include "Servo.h"
cr0n0s20 0:ce49c05e9d73 3 #include "main.h"
cr0n0s20 0:ce49c05e9d73 4 #include "9dof.h"
cr0n0s20 0:ce49c05e9d73 5
cr0n0s20 0:ce49c05e9d73 6 Servo motor(p21);
cr0n0s20 0:ce49c05e9d73 7
cr0n0s20 0:ce49c05e9d73 8 Serial pc(USBTX, USBRX);
cr0n0s20 0:ce49c05e9d73 9 dof9RazorImu Razor(p9, p10);
cr0n0s20 0:ce49c05e9d73 10
cr0n0s20 0:ce49c05e9d73 11 int main() {
cr0n0s20 0:ce49c05e9d73 12
cr0n0s20 0:ce49c05e9d73 13
cr0n0s20 0:ce49c05e9d73 14
cr0n0s20 0:ce49c05e9d73 15 armarESC();
cr0n0s20 0:ce49c05e9d73 16 wait_ms(10000);
cr0n0s20 0:ce49c05e9d73 17 for (int i = 0; i < 50000; i++) {
cr0n0s20 0:ce49c05e9d73 18 motor = 50.0;
cr0n0s20 0:ce49c05e9d73 19
cr0n0s20 0:ce49c05e9d73 20 Razor.update();
cr0n0s20 0:ce49c05e9d73 21 pc.printf("%d\r\n", Razor.getGyroZ());
cr0n0s20 0:ce49c05e9d73 22 wait(0.5);
cr0n0s20 0:ce49c05e9d73 23
cr0n0s20 0:ce49c05e9d73 24 }
cr0n0s20 0:ce49c05e9d73 25
cr0n0s20 0:ce49c05e9d73 26 }
cr0n0s20 0:ce49c05e9d73 27 //Función para armar el ESC
cr0n0s20 0:ce49c05e9d73 28 void armarESC() {
cr0n0s20 0:ce49c05e9d73 29 wait_ms(10000);
cr0n0s20 0:ce49c05e9d73 30 motor = 0.0;
cr0n0s20 0:ce49c05e9d73 31 wait_ms(10000);
cr0n0s20 0:ce49c05e9d73 32 motor = 11.56;
cr0n0s20 0:ce49c05e9d73 33 }