Quadcopterv2 - This is for ICRS\' second generation Quadcopter

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This is for ICRS\' second generation Quadcopter

main_init.h@0:0bbf2f16da9c, 2011-11-18 (annotated)

User	Revision	Line number	New contents of line
madcowswe	0:0bbf2f16da9c	1
madcowswe	0:0bbf2f16da9c	2
madcowswe	0:0bbf2f16da9c	3	void main_init() {
madcowswe	0:0bbf2f16da9c	4
madcowswe	0:0bbf2f16da9c	5	//Emergency stop button
madcowswe	0:0bbf2f16da9c	6	Nkill.mode(PullDown);
madcowswe	0:0bbf2f16da9c	7
madcowswe	0:0bbf2f16da9c	8	pc.printf("Hello World!\r\n");
madcowswe	0:0bbf2f16da9c	9
madcowswe	0:0bbf2f16da9c	10	initmotor();
madcowswe	0:0bbf2f16da9c	11
madcowswe	0:0bbf2f16da9c	12	/*
madcowswe	0:0bbf2f16da9c	13	//Init motor pwm
madcowswe	0:0bbf2f16da9c	14	left.period_ms(20);
madcowswe	0:0bbf2f16da9c	15	left = 0.01;
madcowswe	0:0bbf2f16da9c	16	right.period_ms(20);
madcowswe	0:0bbf2f16da9c	17	right = 0.01;
madcowswe	0:0bbf2f16da9c	18
madcowswe	0:0bbf2f16da9c	19	front.period_ms(20);
madcowswe	0:0bbf2f16da9c	20	front = 0.01;
madcowswe	0:0bbf2f16da9c	21	rear.period_ms(20);
madcowswe	0:0bbf2f16da9c	22	rear = 0.01;
madcowswe	0:0bbf2f16da9c	23	*/
madcowswe	0:0bbf2f16da9c	24
madcowswe	0:0bbf2f16da9c	25	pc.printf("Motors initialized\r\n");
madcowswe	0:0bbf2f16da9c	26
madcowswe	0:0bbf2f16da9c	27	//Setup accelerometer
madcowswe	0:0bbf2f16da9c	28	setupaccel();
madcowswe	0:0bbf2f16da9c	29	pc.printf("Accelorometer initialized\r\n");
madcowswe	0:0bbf2f16da9c	30
madcowswe	0:0bbf2f16da9c	31	//Setup gyros, and calibrate them
madcowswe	0:0bbf2f16da9c	32	wait(0.5);
madcowswe	0:0bbf2f16da9c	33	calibgyro();
madcowswe	0:0bbf2f16da9c	34	pc.printf("Gyros initialized and calibrated\r\n");
madcowswe	0:0bbf2f16da9c	35
madcowswe	0:0bbf2f16da9c	36	}