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ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: main.cpp
- Revision:
- 36:40b134328376
- Parent:
- 34:eaea0ae92dfa
- Child:
- 37:a983eb9fd9c5
--- a/main.cpp Tue Apr 26 18:50:55 2016 +0000 +++ b/main.cpp Fri Apr 29 18:24:15 2016 +0000 @@ -7,8 +7,9 @@ Serial pc(USBTX, USBRX); MRF24J40 mrf(p11, p12, p13, p14, p21); -Timer timer; // timer ;) -Quadcopter myQuadcopter(&pc, &mrf, &timer); // instantiate Quadcopter object +Timer timer; // timer ;) +Mutex desired_mutex; +Quadcopter myQuadcopter(&pc, &mrf, &timer, &desired_mutex); // instantiate Quadcopter object // pwm outputs for the 4 motors (motor 1 points into x direction, 2 into y direction, 3 -x direction, -y direction PwmOut motor_1(p23); @@ -114,7 +115,7 @@ motor_3.period(0.01); motor_4.period(0.01); - Thread threadR(rc_thread); + Thread thread_rc(rc_thread); int startLoop = 0; @@ -132,8 +133,7 @@ // TODO assign priorities to threads, test if it really works as we expect Thread battery(battery_thread); - Thread thread(controller_thread); - + Thread controller(controller_thread); // TODO is this needed? while (1); }