Diff: main.cpp

Revision:

14:a153ce7cc4c8

Parent:

13:af3e8a8189ed

Child:

15:3cee564f9d47

--- a/main.cpp	Wed Mar 16 21:59:54 2016 +0000
+++ b/main.cpp	Thu Apr 07 21:17:10 2016 +0000
@@ -28,6 +28,7 @@
 DigitalOut init_done(LED1);
 DigitalOut imu_good(LED2);
 DigitalOut main_loop(LED3);
+DigitalOut main_loop2(LED4);
 
 // Simon's Watchdog code from
 // http://mbed.org/forum/mbed/topic/508/
@@ -91,6 +92,7 @@
         l_enc = l_wheel.getPulses();
         //if(debug) SerialRPC.pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc);
         
+        
         if (!(--loop_count)) {
             loop_count = 10;
             main_loop = !main_loop;
@@ -113,18 +115,22 @@
                 gyro_z = (float)gyroCount[2]*gRes - gyroBias[2];
             }
         }
+        
+        // for testing where is the bug
+        main_loop2 = main_loop;
+        
+        //SerialRPC.pc.printf("Data: %d,%d,%f,%f,%f,%f,%f,%f\r\n", l_enc, r_enc, accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z);
     }
 }
 
 
 // RPCFunction
 void GetSensorData(char* input, char* output){
-    sprintf(output, "%f,%f,%f,%f,%f,%f,%i,%i", accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z, l_enc, r_enc);
-    //wdt.kick();
+    sprintf(output, "%d,%d,%f,%f,%f,%f,%f,%f", l_enc, r_enc, accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z);
 }
 
 void Reset(char* input, char* output){
-    mbed_reset();
+    mbed_reset();   
 }
 
 /*