Marco Rubio / Mbed 2 deprecated RTOS_Controller

Controller for Seagoat in the RoboSub competition

Dependencies:   Servo mbed

Fork of ESC by Matteo Terruzzi

main.cpp@5:07bbe020eb65, 2016-07-26 (annotated)

Committer:
gelmes
Date:
Tue Jul 26 17:22:33 2016 +0000
Revision:
5:07bbe020eb65
Parent:
4:b37fd183e46a 
This is a working implementation of the Controller;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gelmes 3:5ffe7e9c0bb3 1 // Continuously sweep the servo through it's full range
gelmes 3:5ffe7e9c0bb3 2 #include "mbed.h"
gelmes 3:5ffe7e9c0bb3 3 #include "vessel.h"
gelmes 3:5ffe7e9c0bb3 4
gelmes 3:5ffe7e9c0bb3 5 int main()
gelmes 3:5ffe7e9c0bb3 6 {
gelmes 5:07bbe020eb65 7 Timer t;
gelmes 5:07bbe020eb65 8
gelmes 5:07bbe020eb65 9 wait(3);
gelmes 3:5ffe7e9c0bb3 10 Vessel seagoat; //Starts the seagoat
gelmes 5:07bbe020eb65 11 seagoat.SetYawPID(4,0,0);
gelmes 5:07bbe020eb65 12 seagoat.SetRollPID(4,0,0);
gelmes 5:07bbe020eb65 13 seagoat.SetPitchPID(4,0,0);
gelmes 5:07bbe020eb65 14 seagoat.SetXPID(0,0,0);
gelmes 5:07bbe020eb65 15 seagoat.SetYPID(0,0,0);
gelmes 5:07bbe020eb65 16 seagoat.SetZPID(0,0,0);
gelmes 5:07bbe020eb65 17
gelmes 5:07bbe020eb65 18 t.start();
gelmes 5:07bbe020eb65 19 while(t.read() < 5){
gelmes 5:07bbe020eb65 20 seagoat.calibrate();
gelmes 5:07bbe020eb65 21
gelmes 5:07bbe020eb65 22 //pc.printf("%f \n", t.read());
gelmes 5:07bbe020eb65 23 }
gelmes 5:07bbe020eb65 24 t.stop();
gelmes 5:07bbe020eb65 25 pc.printf("Seagoat Ready to Go\n\r");
gelmes 5:07bbe020eb65 26 //seagoat.motorTest();
gelmes 3:5ffe7e9c0bb3 27
gelmes 4:b37fd183e46a 28 while(1) {
gelmes 5:07bbe020eb65 29
gelmes 5:07bbe020eb65 30 //seagoat.motorTest();
gelmes 4:b37fd183e46a 31 seagoat.update();
gelmes 5:07bbe020eb65 32
gelmes 5:07bbe020eb65 33 wait(0.01);
gelmes 4:b37fd183e46a 34 }
gelmes 3:5ffe7e9c0bb3 35 }