Oskar Weigl
/
Quadcopter_copy
Very early flyable code.
main_init.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
madcowswe | 0:9fcb3bf5c231 | 1 | |
madcowswe | 0:9fcb3bf5c231 | 2 | |
madcowswe | 0:9fcb3bf5c231 | 3 | void main_init() { |
madcowswe | 0:9fcb3bf5c231 | 4 | |
madcowswe | 0:9fcb3bf5c231 | 5 | //Emergency stop button |
madcowswe | 0:9fcb3bf5c231 | 6 | Nkill.mode(PullDown); |
madcowswe | 0:9fcb3bf5c231 | 7 | |
madcowswe | 0:9fcb3bf5c231 | 8 | pc.printf("Hello World!\r\n"); |
madcowswe | 0:9fcb3bf5c231 | 9 | |
madcowswe | 0:9fcb3bf5c231 | 10 | initmotor(); |
madcowswe | 0:9fcb3bf5c231 | 11 | |
madcowswe | 0:9fcb3bf5c231 | 12 | /* |
madcowswe | 0:9fcb3bf5c231 | 13 | //Init motor pwm |
madcowswe | 0:9fcb3bf5c231 | 14 | left.period_ms(20); |
madcowswe | 0:9fcb3bf5c231 | 15 | left = 0.01; |
madcowswe | 0:9fcb3bf5c231 | 16 | right.period_ms(20); |
madcowswe | 0:9fcb3bf5c231 | 17 | right = 0.01; |
madcowswe | 0:9fcb3bf5c231 | 18 | |
madcowswe | 0:9fcb3bf5c231 | 19 | front.period_ms(20); |
madcowswe | 0:9fcb3bf5c231 | 20 | front = 0.01; |
madcowswe | 0:9fcb3bf5c231 | 21 | rear.period_ms(20); |
madcowswe | 0:9fcb3bf5c231 | 22 | rear = 0.01; |
madcowswe | 0:9fcb3bf5c231 | 23 | */ |
madcowswe | 0:9fcb3bf5c231 | 24 | |
madcowswe | 0:9fcb3bf5c231 | 25 | pc.printf("Motors initialized\r\n"); |
madcowswe | 0:9fcb3bf5c231 | 26 | |
madcowswe | 0:9fcb3bf5c231 | 27 | //Setup accelerometer |
madcowswe | 0:9fcb3bf5c231 | 28 | //setupaccel(); |
madcowswe | 0:9fcb3bf5c231 | 29 | //pc.printf("Accelorometer initialized\r\n"); |
madcowswe | 0:9fcb3bf5c231 | 30 | |
madcowswe | 0:9fcb3bf5c231 | 31 | //Setup gyros, and calibrate them |
madcowswe | 0:9fcb3bf5c231 | 32 | wait(0.5); |
madcowswe | 0:9fcb3bf5c231 | 33 | calibgyro(); |
madcowswe | 0:9fcb3bf5c231 | 34 | pc.printf("Gyros initialized and calibrated\r\n"); |
madcowswe | 0:9fcb3bf5c231 | 35 | |
madcowswe | 0:9fcb3bf5c231 | 36 | } |