Diff: main.cpp

Revision:

2:d172c9963f87

Parent:

1:3a5a074b39e0

Child:

3:6c9f80f5e865

Child:

4:c909ed06dc1f

--- a/main.cpp	Wed Sep 27 17:06:19 2017 +0000
+++ b/main.cpp	Thu Oct 26 15:54:47 2017 +0000
@@ -1,50 +1,56 @@
 #include "mbed.h"
+#include "rtos.h"
+#include "hardware.h"
+#include "Server.h"
 #include "PpmRegen.h"
-//#include "ultrasonic.h"
-//#include "MyPID.h"
+#include "distanceRegulation.h"
+#include "hcsr04.h"
+#include "PID.h"
 
 
-#define AUX1 4
-#define PIEZZO_START 0.1
-#define PIEZZO_STOP 0.0
-#define PPMOUT_CHANNELS 6
-#define PPMIN_CHANNELS 8
-#define PPMIN_FILTERS 5
-
-#define ROLL 0
-#define PITCH 1
-#define YAW 2   
-#define THROTTLE 3
-
-//PPM SETTINGS
-PpmRegen ppmRegen(p28, p21, p22, p23, p24, p25, p26);
-Serial pc(USBTX, USBRX); // tx, rx
-
-uint16_t ppmInChannelsValue[PPMIN_CHANNELS];
+//VARIABLES
+uint16_t ppmInChannelsValue[CHANNELS];
+volatile uint16_t distance = 0;
 
 //FUNCTIONS
 void print_ppmIn(void);
+void dist(int);
+//HCSR04 sonic(p6, p7);
+//_ppmRegen = new PpmRegen(_interruptPort, _roll, _pitch, _yaw, _throttle, _aux1, _aux2); 
 
 int main(){
-    //PPMIN SETTINGS
-    /*
-    NVIC_SetPriority(TIMER0_IRQn, 0);
-    NVIC_SetPriority(TIMER1_IRQn, 1);
-    NVIC_SetPriority(TIMER2_IRQn, 2);
-    NVIC_SetPriority(TIMER3_IRQn, 3);
-    */
+    
+    _ppmRegen = new PpmRegen(_interruptPort);
+    _sonic = new HCSR04(p29, p30);
+    _groundDistance = new PID(10, 0, 0, 2);
     
+    serverThread.start(serverRun);
+    distanceThread.start(distanceRegulationThread);
+    //_sonic.startUpdates();
+    
+    wait(1);
     while(1){
         //print_ppmIn();
-        //print_ppmOut();
-                        
+        //_sonic.checkDistance();
+        //distance = _sonic.getCurrentDistance();
+        //distance = sonic.getDistance();
+        //pc.printf("Distance: %d \n\r", distance);
+        Thread::wait(100);
+        
     }
         
 }
 
+
+void dist(int distan)
+{
+    //pc.printf("Distance: %d \n\r", distan);
+    distance = distan;
+}
+
 void print_ppmIn(){
-    ppmRegen.getAllChannels(ppmInChannelsValue);
-    for(uint8_t channel= 0; channel < PPMIN_CHANNELS; channel++){
+    _ppmRegen->getAllChannels(ppmInChannelsValue);
+    for(uint8_t channel= 0; channel < CHANNELS; channel++){
         pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
     }
     pc.printf("\n\r");