Matti Borchers / Mbed 2 deprecated mbed_amf_controlsystem

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Dependencies:   mbed-rtos mbed

Diff: main.cpp

Revision:
6:aa27bc8c58f5
Parent:
5:4319a748181a
Child:
9:46c42975a0dc
--- a/main.cpp	Thu Feb 04 15:27:37 2016 +0000
+++ b/main.cpp	Thu Feb 04 17:46:19 2016 +0000
@@ -91,7 +91,7 @@
         l_PWM=2000;
     }
     
-    drivePWM.pulsewidth_us(l_PWM);
+    drivePWM.pulsewidth_us(1700);
 }
 
 void redirect_quadrature_controller(void const *args) {
@@ -108,7 +108,7 @@
 
     SupportSystem *supportSystem = new SupportSystem(0x80, &i2c);
     
-    quadratureController = new QuadratureController(&steerPWM);
+    quadratureController = new QuadratureController(&steerPWM, &quadrature_queue, &imu_queue_steering_angle);
 
     Thread machineDirectionControl(serial_thread);
     
@@ -132,7 +132,7 @@
 
     wait(0.1);
     
-    steering_angle_minnow_queue = 0.0;
+    steering_angle_minnow_queue = 10.0;
     quadrature_queue.put(&steering_angle_minnow_queue);
     
     velocity_minnow_queue = 1.5;