Diff: robotic_fish_6/main.cpp

Revision:

0:c3a329a5b05d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robotic_fish_6/main.cpp	Tue Jan 14 19:17:05 2020 +0000
@@ -0,0 +1,51 @@
+
+// NOTE look at the below h files to define whether that control mode is enabled
+
+#include "mbed.h"
+//#include "AcousticControl/AcousticController.h" // also need to define acousticControl in ToneDetector.h
+#include "SerialControl/SerialController.h"
+//#include "ROSControl/ROSController.h"
+
+Serial pc(USBTX, USBRX);
+
+int main()
+{
+	/* ACOUSTIC CONTROL */
+	//#ifdef acousticControl
+//	pc.baud(115200);
+//	// Initialize the acoustic controller
+//	acousticController.init(&pc); // if no serial object is provided, it will create one on the USB pins
+//	// Start the controller
+//	// NOTE this is a blocking method, and if infiniteLoopAcoustic is defined it will run forever (or until low battery callback or button board reset command)
+//	// It can be stopped by the acousticController.stop() method, but you have to
+//	//  control threading here to actually be able to call that
+//	//  The acoustic controller hasn't been tested with multi-threading though
+//	acousticController.run();
+//	#endif
+
+	/* SERIAL CONTROL */
+	#ifdef serialControl
+
+	pc.baud(115200);
+	pc.printf("Beginning serial control. \n");
+	// Initialize the serial controller
+	serialController.init(NULL, &pc);
+	// Start the controller
+	// NOTE this is a blocking method, and if infiniteLoopSerial is defined it will run forever (or until low battery callback or button board reset command)
+	// It can be stopped by the serialController.stop() method, but you have to
+	//  control threading here to actually be able to call that
+	serialController.run();
+	#endif
+
+	/* ROS CONTROL */
+	//#ifdef rosControl
+//	pc.baud(115200);
+//	// Initialize the ROS controller
+//	rosController.init(NULL, &pc);
+//	// Start the controller
+//	// NOTE this is a blocking method, and if infiniteLoopSerial is defined it will run forever (or until low battery callback or button board reset command)
+//	// It can be stopped by the rosController.stop() method, but you have to
+//	//  control threading here to actually be able to call that
+//	rosController.run();
+//	#endif
+}