ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: main.cpp
- Revision:
- 27:11116aa69f32
- Parent:
- 26:7f50323c0c0d
- Child:
- 28:61f7356325c3
diff -r 7f50323c0c0d -r 11116aa69f32 main.cpp --- a/main.cpp Thu Apr 14 19:58:42 2016 +0000 +++ b/main.cpp Thu Apr 14 22:32:30 2016 +0000 @@ -82,6 +82,8 @@ int main() { + + // get desired values from joystick (to be implemented) // myQuadcopter.setDes(...) @@ -90,6 +92,23 @@ motor_3.period(0.01); // motor requires a 2ms period motor_4.period(0.01); // motor requires a 2ms period + Thread threadR(rc_thread); + double forceThreshold = -0.3; + double forceRc = myQuadcopter.getForce(); + + while (forceRc > forceThreshold) // wait until Joystick is in starting position + { + forceRc = myQuadcopter.getForce(); + } + + motor_1 = 0.1; + motor_2 = 0.1; + motor_3 = 0.1; + motor_4 = 0.1; + + wait(2); // hold startup duty cycle for 2 seconds + +/* // startup procedure pc.printf("Type 's' to start up Motors, or anything else to abort.\n\r"); char a= pc.getc(); @@ -111,7 +130,7 @@ pc.printf("Aborting"); return 0; }; - +*/ /* pc.printf("Outputting duty cycle specified below now press all but b to abort.\n\r"); motor_1 = 0.07; @@ -125,10 +144,9 @@ // TODO assign priorities to threads, test if it really works as we expect Thread thread(controller_thread); - Thread threadR(rc_thread); Thread battery(battery_thread); - pc.printf("Entering control loop\n\r"); + //pc.printf("Entering control loop\n\r"); while (1) { //myQuadcopter.readSensorValues();