ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: main.cpp
- Revision:
- 7:f3f94eadc5b5
- Parent:
- 6:6f3ffd97d808
- Child:
- 9:f1bd96708a21
diff -r 6f3ffd97d808 -r f3f94eadc5b5 main.cpp --- a/main.cpp Sat Apr 02 13:13:41 2016 +0000 +++ b/main.cpp Sat Apr 02 13:34:57 2016 +0000 @@ -5,6 +5,8 @@ #include "controller.h" #include "sensor.h" +#include "quadcopter.h" + DigitalOut myled(LED1); Adafruit_9DOF dof = Adafruit_9DOF(); Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301); @@ -13,14 +15,28 @@ Serial pc(USBTX, USBRX); + // 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); PwmOut motor_2(p22); PwmOut motor_3(p23); PwmOut motor_4(p24); + +/*struct pwmOut { +// pwmOut: this struct, PwmOut: class defined by mbed, _pwmOut: class memeber of quadcopter class +// pwm outputs for the 4 motors (motor 1 points into x direction, 2 into y direction, 3 -x direction, -y direction +PwmOut _motr; +PwmOut b +PwmOut c; +PwmOut d; +}; +*/ + int main() { + Quadcopter *myQuadcopter; // initialze Quadcopter object + control result; offset offset_gyro;