ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: main.cpp
- Revision:
- 43:0e98d5488bf2
- Parent:
- 42:d09dec5bb184
- Child:
- 45:9f74298eee78
diff -r d09dec5bb184 -r 0e98d5488bf2 main.cpp --- a/main.cpp Wed May 04 21:35:05 2016 +0000 +++ b/main.cpp Thu May 05 03:22:59 2016 +0000 @@ -196,25 +196,30 @@ //thread_rc.set_priority(osPriorityRealtime); int i = 0; - float previousTime =0; + float previousTime = 0; float currentTime = 0; + float checkBattery = 0.0; while (1) { i++; - if (i % 1000 == 0) { - if (low_battery()) { - break; - } - } + currentTime = timer.read(); + checkBattery += currentTime - previousTime; +// if (checkBattery > 1.0) { +// checkBattery = 0.0; +// if (low_battery()) { +// break; +// } +// } + previousTime = currentTime; // can be used to measure frequency - /* - if (i % 5000 == 0) { - currentTime = timer.read(); - printf("%d, %f, %f\r\n", i, 5000.0 / (currentTime - previousTime), currentTime); - previousTime = currentTime; - - } - */ + // TODO why did it get to 430Hz +// if (i % 1000 == 0) { +// currentTime = timer.read(); +// printf("%d, %f, %f\r\n", i, 1000.0 / (currentTime - previousTime), currentTime); +// previousTime = currentTime; +// +// } + myQuadcopter.readRc();