Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

system.h

Committer:
dima285
Date:
2019-08-06
Branch:
svoe
Revision:
23:bc05a104be10
Parent:
22:14e85f2068c7

File content as of revision 23:bc05a104be10:

//AnalogIn speed_in(PB_1);
//AnalogIn turn_in(PB_0);

void system_init(){
    max.speed = 1;
    max.accel = 2.2;
    max.eps = 10;
    da = max.accel*max.accel / max.speed * t_step;//0.05;//max a/2 sec

    confSysClock();     //Configure system clock (72MHz HSE clock, 48MHz USB clock)
    //NVIC_SetPriority(TIM3_IRQn,255);
    sound_out.baud(9600); //(115200); 
    sound_in.baud(9600);
    wifi.baud(921600); 
    
    motor_init();
    serva_init();
    echo_init();
    gyro_init();
    realtime_init(); 
    //motion_init();
    wifi_init();
    glaz_init();
    }