Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

Diff: main.cpp

Branch:
svoe
Revision:
23:bc05a104be10
Parent:
22:14e85f2068c7
--- a/main.cpp	Tue Jul 23 12:55:23 2019 +0000
+++ b/main.cpp	Tue Aug 06 14:13:55 2019 +0000
@@ -27,10 +27,12 @@
     serva_counter = 0;
     
     //wait(20);
+   
     
     while(1){
+        //myled = 1; //SMErT' !!!!!!! 
         while(realtime_flag == 0){}
-        myled = !myled;
+        //myled = 0;
         //myled = 0; //inverse connection
         gyro.read(&gx,&gy,&gz,&ax,&ay,&az); //doesn't work in interrupt // reading - 500 uS 
         ax_filter();
@@ -39,6 +41,7 @@
         //balance_coord(); 
         balance_motion_PID();    
         if(external_command != 0) command_process(); 
+        if (echo_delay_counter++ > 2) {echo_delay_counter = 0; rt_scan();}      //echo every 3 csycles
         free_walk();//motion
         //motion_1D();