ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: main.cpp
- Revision:
- 23:04338a5ef404
- Parent:
- 22:92401a4fec13
- Child:
- 24:e220fbb70ded
diff -r 92401a4fec13 -r 04338a5ef404 main.cpp --- a/main.cpp Mon Apr 11 16:41:56 2016 +0000 +++ b/main.cpp Tue Apr 12 22:54:16 2016 +0000 @@ -21,7 +21,7 @@ void controller_thread(void const *args) { while(true) { - //myQuadcopter.readSensorValues(); + myQuadcopter.readSensorValues(); myQuadcopter.controller(); motors motorsPwm=myQuadcopter.getPwm(); @@ -64,8 +64,6 @@ int main() { - //Thread thread(controller_thread); - // get desired values from joystick (to be implemented) // myQuadcopter.setDes(...) @@ -74,11 +72,6 @@ motor_3.period(0.01); // motor requires a 2ms period motor_4.period(0.01); // motor requires a 2ms period - //pc.printf("Pestingt.\n\r"); - - - - // startup procedure pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r"); char a= pc.getc(); @@ -87,8 +80,6 @@ return 0; }; - - // Duty cycle at beginning must be 50% pc.printf("Starting up ESCs\n\r"); motor_1 = 0.1; @@ -103,8 +94,6 @@ return 0; }; - - /* pc.printf("Outputting duty cycle specified below now press all but b to abort.\n\r"); motor_1 = 0.07; @@ -116,13 +105,10 @@ }; */ - - Thread threadR(rc_thread); - Thread battery(battery_thread); + Thread thread(controller_thread); + //Thread threadR(rc_thread); + //Thread battery(battery_thread); - //check if remote controll is working with if statement - - Thread threadC(controller_thread); pc.printf("Entering control loop\n\r"); while (1) {