Oskar Weigl / Mbed 2 deprecated Quadcopter_copy

Very early flyable code.

Dependencies:   mbed RF12B

System.h@0:9fcb3bf5c231, 2011-10-01 (annotated)

Committer:
madcowswe
Date:
Sat Oct 01 12:57:23 2011 +0000
Revision:
0:9fcb3bf5c231
This edit is for testing: not flyable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 0:9fcb3bf5c231 1
madcowswe 0:9fcb3bf5c231 2 //General system functions
madcowswe 0:9fcb3bf5c231 3
madcowswe 0:9fcb3bf5c231 4 #include <string>
madcowswe 0:9fcb3bf5c231 5
madcowswe 0:9fcb3bf5c231 6 //
madcowswe 0:9fcb3bf5c231 7 void kill(string reason = "Killed for no reason!") {
madcowswe 0:9fcb3bf5c231 8 PWMleft = NOPOWER - 0.004;
madcowswe 0:9fcb3bf5c231 9 PWMright = NOPOWER - 0.004;
madcowswe 0:9fcb3bf5c231 10 PWMfront = NOPOWER - 0.004;
madcowswe 0:9fcb3bf5c231 11 PWMrear = NOPOWER - 0.004;
madcowswe 0:9fcb3bf5c231 12 //TODO: send this over RF as well..
madcowswe 0:9fcb3bf5c231 13 pc.printf("%s\r\n", reason.c_str());
madcowswe 0:9fcb3bf5c231 14 /*wait(0.5);
madcowswe 0:9fcb3bf5c231 15 left = 0;
madcowswe 0:9fcb3bf5c231 16 right = 0;
madcowswe 0:9fcb3bf5c231 17 front = 0;
madcowswe 0:9fcb3bf5c231 18 rear = 0;
madcowswe 0:9fcb3bf5c231 19 */
madcowswe 0:9fcb3bf5c231 20 while (1);
madcowswe 0:9fcb3bf5c231 21 }
madcowswe 0:9fcb3bf5c231 22
madcowswe 0:9fcb3bf5c231 23 //
madcowswe 0:9fcb3bf5c231 24 void wdt() {
madcowswe 0:9fcb3bf5c231 25 if (!loopalive)
madcowswe 0:9fcb3bf5c231 26 kill("Killed by WDT: loop has stalled");
madcowswe 0:9fcb3bf5c231 27 if (!commandsalive)
madcowswe 0:9fcb3bf5c231 28 kill("Killed by WDT: command starvation");
madcowswe 0:9fcb3bf5c231 29
madcowswe 0:9fcb3bf5c231 30 loopalive = 0;
madcowswe 0:9fcb3bf5c231 31 commandsalive = 0;
madcowswe 0:9fcb3bf5c231 32 }