ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: main.cpp
- Revision:
- 50:c9831bb5a660
- Parent:
- 49:59c3427e6838
diff -r 59c3427e6838 -r c9831bb5a660 main.cpp --- a/main.cpp Fri May 06 13:54:18 2016 +0000 +++ b/main.cpp Fri May 06 15:05:26 2016 +0000 @@ -128,7 +128,7 @@ if (battery.read() < threshold_adc) { printf("low battery! %f\r\n", battery.read() * saturating_voltage); batteryLed = 1; - + if (battery.read() < emergency_adc) { emergencyShutdown(); return true; @@ -175,13 +175,13 @@ printf("Started!\r\n"); nLowThrust = 0; // reset for later use in controller. // start ESCs up with 10% duty cycle - motor_1 = OFF_PWM; - motor_2 = OFF_PWM; - motor_3 = OFF_PWM; - motor_4 = OFF_PWM; + motor_1 = OFF_PWM; + motor_2 = OFF_PWM; + motor_3 = OFF_PWM; + motor_4 = OFF_PWM; wait(1); // hold startup duty cycle for 1 second - + // Idle thrust motor_1 = MIN_PWM_1; // starts at 11.72% duty cycle motor_2 = MIN_PWM_2; // starts at 11.61% duty cycle @@ -202,7 +202,7 @@ float currentTime = 0; float checkBattery = 0.0; int shutdown = 0; - + // Enter while loop with control while (1) { // Check battery level @@ -225,7 +225,7 @@ // previousTime = currentTime; // // } - + myQuadcopter.readRc(); // shutdown