Diff: main.cpp

Branch:

DistanceRegulation

Revision:

41:5fe200d20022

Parent:

40:0aa1cefe80ab

--- a/main.cpp	Tue May 15 10:34:35 2018 +0000
+++ b/main.cpp	Tue May 22 19:43:09 2018 +0000
@@ -5,7 +5,7 @@
 #include "PpmRegen.h"
 #include "distanceRegulation.h"
 #include "hcsr04.h"
-#include "front_sensor.h"
+#include "front_back_sensors.h"
 #include "PID.h"
 #include "ConfigFile.h"
 
@@ -14,19 +14,21 @@
 
 //VARIABLES
 uint16_t ppmInChannelsValue[CHANNELS];
-volatile uint16_t distance = 0;
+
 
 //FUNCTIONS
 void print_ppmIn(void);
 
-//RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic,  (void *)0);
 
 int main(){
-    
     pc.baud(115200);
     
+    osThreadId mainID;
+    mainID = Thread::gettid();
+    pc.printf("main gettid 0x%08X \n\r", mainID);
+    
     // INITIALIZE CLASSES
-    _ppmRegen = new PpmRegen(_interruptPort);
+    _ppmRegen = new PpmRegen(_interruptPin);
     float rate = (1.0 / FLIGHT_CONTROLLER_FREQUENCY);
     _groundDistance = new PID(0, 0, 0, rate);
     
@@ -46,6 +48,8 @@
     // STARTING THREADS
     pc.printf("starting distance thread \n\r");
     _distanceThread = new Thread(distanceRegulationThread);
+    osThreadId distanceID;
+    pc.printf("distance gettid 0x%08X \n\r", distanceID);
     _distanceThread->set_priority(osPriorityRealtime);
     
     //_sonic = new HCSR04(p7, p8, p5, p6);
@@ -57,19 +61,18 @@
     //_leftSensorThread.start(left_sensor);
     //_leftSensorThread.set_priority(osPriorityHigh);
     
-    _leftSensorThread.start(callback(semaphore_thread, (void *)"leftSensor"));
+    pc.printf("Starting sonic threads \n\r");
     _frontSensorThread.start(callback(semaphore_thread, (void *)"frontSensor"));
-    _rightSensorThread.start(callback(semaphore_thread, (void *)"rightSensor"));
     _backSensorThread.start(callback(semaphore_thread, (void *)"backSensor"));
     _frontSensorThread.set_priority(osPriorityHigh);
-    _leftSensorThread.set_priority(osPriorityHigh);
-    _rightSensorThread.set_priority(osPriorityHigh);
     _backSensorThread.set_priority(osPriorityHigh);
     
     
     
     
     pc.printf("starting server thread \n\r");
+    osThreadId serverID;
+    pc.printf("server gettid 0x%08X \n\r", serverID);
     _serverThread.start(serverRun);
     _serverThread.set_priority(osPriorityHigh);
     
@@ -78,6 +81,7 @@
     
     //wait(1);
     
+    
     while(1){
         Thread::wait(osWaitForever);
     }