ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: main.cpp
- Revision:
- 18:a00d6b065c6b
- Parent:
- 17:96d0c72e413e
- Child:
- 19:39c144ca2a2f
diff -r 96d0c72e413e -r a00d6b065c6b main.cpp --- a/main.cpp Thu Apr 07 22:13:17 2016 +0000 +++ b/main.cpp Fri Apr 08 23:08:32 2016 +0000 @@ -20,6 +20,13 @@ { while(true) { myQuadcopter.controller(); + motors motorsPwm=myQuadcopter.getPwm(); + + motor_2=motorsPwm.m2; + motor_4=motorsPwm.m4; + + //pc.printf("m1: %f m2: %f \n\r", motorsPwm.m2, motorsPwm.m4); + Thread::wait(10); } } @@ -28,7 +35,7 @@ { while(true) { myQuadcopter.readRc(); - // Thread::wait(500); // wait for some number of miliseconds + Thread::wait(50); // wait for some number of miliseconds } } @@ -71,22 +78,22 @@ //check if remote controll is working with if statement - //Thread threadC(controller_thread); +Thread threadC(controller_thread); pc.printf("Entering control loop\n\r"); while (1) { myQuadcopter.readSensorValues(); - pc.printf("%lld: %f,%f,%f,%f\r\n", myQuadcopter.id, myQuadcopter.thrust, myQuadcopter.yaw, myQuadcopter.pitch, myQuadcopter.roll); + //pc.printf("%lld: %f,%f,%f,%f\r\n", myQuadcopter.id, myQuadcopter.thrust, myQuadcopter.yaw, myQuadcopter.pitch, myQuadcopter.roll); // myQuadcopter.controller(); // wait(0.01); // Set duty cycle - motors motorsPwm=myQuadcopter.getPwm(); + // motors motorsPwm=myQuadcopter.getPwm(); - motor_2=motorsPwm.m2; - motor_4=motorsPwm.m4; + //motor_2=motorsPwm.m2; + //motor_4=motorsPwm.m4; //pc.printf("F: %f M_x: %f M_y: %f M_z: %f\n\r", F, M_x, M_y, M_z); // pc.printf("m1: %f m2: %f \n\r", motorsPwm.m2, motorsPwm.m4);