Diff: main.cpp

Revision:

9:f1bd96708a21

Parent:

7:f3f94eadc5b5

Child:

10:e7d1801e966a

diff -r 326e7009ce0c -r f1bd96708a21 main.cpp
--- a/main.cpp	Sat Apr 02 13:47:58 2016 +0000
+++ b/main.cpp	Sat Apr 02 14:54:46 2016 +0000
@@ -14,7 +14,7 @@
 Adafruit_L3GD20_Unified gyro = Adafruit_L3GD20_Unified(20);
 
 Serial pc(USBTX, USBRX);
-
+Serial *pcPntr=&pc;
 
 // pwm outputs for the 4 motors (motor 1 points into x direction, 2 into y direction, 3 -x direction, -y direction
 PwmOut motor_1(p21);
@@ -35,9 +35,11 @@
 
 int main()
 {
-    Quadcopter *myQuadcopter; // initialze Quadcopter object 
-    
-    control result; 
+    Quadcopter myQuadcopter; // initialze Quadcopter object
+    myQuadcopter.setSerial(pcPntr); // give Quadcopter object pc Pointer in order to print
+    myQuadcopter.initAllSensors(); // initialize sensors
+
+    control result;
     offset offset_gyro;
 
     initSensors(accel, mag, gyro,offset_gyro);
@@ -117,10 +119,10 @@
         // assumption for low angles the computed moments are between -10...10
         // since I dont want to risk, i set PWM to 60% duty cycle if deflection =10.
         // USB connection of quadcopter points into x direction.
-        
-        
+
+
         // Set duty cycle
-        // continue looking what pwm is. 
+        // continue looking what pwm is.
 
         motor_2=0.6+result.M_x/100;
         motor_4=0.6-result.M_x/100;