Oskar Weigl
/
Quadcopter_copy
Very early flyable code.
System.h
- Committer:
- madcowswe
- Date:
- 2011-10-01
- Revision:
- 0:9fcb3bf5c231
File content as of revision 0:9fcb3bf5c231:
//General system functions #include <string> // void kill(string reason = "Killed for no reason!") { PWMleft = NOPOWER - 0.004; PWMright = NOPOWER - 0.004; PWMfront = NOPOWER - 0.004; PWMrear = NOPOWER - 0.004; //TODO: send this over RF as well.. pc.printf("%s\r\n", reason.c_str()); /*wait(0.5); left = 0; right = 0; front = 0; rear = 0; */ while (1); } // void wdt() { if (!loopalive) kill("Killed by WDT: loop has stalled"); if (!commandsalive) kill("Killed by WDT: command starvation"); loopalive = 0; commandsalive = 0; }