New version of quadcopter software written to OO principles
Dependencies: mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS
Diff: main.cpp
- Revision:
- 0:c6a85bb2a827
- Child:
- 2:969dfa4f2436
diff -r 000000000000 -r c6a85bb2a827 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Mar 04 18:50:37 2015 +0000 @@ -0,0 +1,75 @@ +#include "mbed.h" +#include "Global.h" +#include "MODSERIAL.h" +#include "Status.h" +#include "Sensors.h" +#include "BaseStation.h" +#include "Rc.h" +#include "FlightController.h" +#include "NavigationController.h" + +MODSERIAL _debug(USBTX, USBRX); + +//Wireless Serial +MODSERIAL _base(p9, p10); + +//GPS Serial +//MODSERIAL _gps(p13, p14); + +//Onboard LED's +//DigitalOut _led1(LED1); +//DigitalOut _led2(LED2); +//DigitalOut _led3(LED3); +//DigitalOut _led4(LED4); + +//MaxBotix Ping sensor +//Timer _maxBotixTimer; +//Sonar _maxBotixSensor(p15, _maxBotixTimer); + +//Lidar +//LidarLite _lidar(p28, p27); + +//Unused analog pins +DigitalOut _spare1(p16); +DigitalOut _spare2(p17); +DigitalOut _spare3(p18); +DigitalOut _spare4(p19); + +//Classes +Status _status; +//Sensors *_sensors(_status, p13, p14, p15, p28, p27); +//BaseStation *_baseStation(p9, p10); +Rc _rc; +FlightController _flightController; +//NavigationController *_navigationController; + +int main() +{ + _base.baud(115200); + + DEBUG("\r\n"); + DEBUG("********************************************************************************\r\n"); + DEBUG("Starting Setup\r\n"); + DEBUG("********************************************************************************\r\n"); + + //Set Status + _status.initialise(); + + //Initalise Base Station + + //Initialise RC + _rc.initialise(_status, p8); + + //Initialise Sensors + + //Initialise Navigation + + //Initialise Flight Controller + _flightController.initialise(_status, _sensors, _navigationController, p21, p22, p23, p24); + + + + DEBUG("********************************************************************************\r\n"); + DEBUG("Finished Setup\r\n"); + DEBUG("********************************************************************************\r\n"); +}