Diff: main.cpp

Revision:

29:48534309e09d

Parent:

28:55b04fb61809

Child:

30:c54217fc9314

--- a/main.cpp	Wed Dec 08 19:39:15 2021 +0000
+++ b/main.cpp	Wed Dec 08 20:31:29 2021 +0000
@@ -69,6 +69,9 @@
     //inital set the thruster esc to 1ms duty cycle
     thruster.period(0.002);      // 2 ms period
     thruster.pulsewidth(1.0/1000.000);
+    
+    thruster2.period(0.002);      // 2 ms period
+    thruster2.pulsewidth(1.0/1000.000);
 
     //Initialize accelerometer:
     accel.init();
@@ -88,8 +91,7 @@
     //so we could have all our control code in the while loop
     //   //log at 2 Hz
     accel_ticker.attach(&accel_update,0.1);  //10Hz
-    log_ticker.attach(&log_data,0.5);
-    wait(1);
+    //log_ticker.attach(&log_data,0.5);
     led1=0;
     led2=0;
 
@@ -97,10 +99,10 @@
     int count=0;
     while(count<3) {
         led3=1;
-        count=count+1;
         float pw= percent;
         float on_time =tim;
         thrust_on(pw, on_time); //turn thruster on for 5 seconds
+        count=count+1;
         wait(1);
     }
 
@@ -193,7 +195,7 @@
         //end of code from Licht
         
         fp = fopen(fname, "a");
-        fprintf(fp, "$DATA, %f, %f, %f, %f, %f, %f, %f, %f, %f\r\n", t.read(),p_sensor.MS5837_Pressure(),p_sensor.depth(),accelData[0],accelData[1],accelData[2],temp.temp(),light.light(),percent);
+        fprintf(fp, "$DATA, Time:%f, Pressure:%f, Depth:%f, Acceleration:%f, %f, %f, Temp:%f, Light:%f, Percent:%f\r\n", t.read(),p_sensor.MS5837_Pressure(),p_sensor.depth(),accelData[0],accelData[1],accelData[2],temp.temp(),light.light(),percent);
         fclose(fp);
     }
 
@@ -224,7 +226,7 @@
         //PWM will be kept until time out
         while(tt.read()<=on_time) {
 
-            pc.printf("thruster on?...mack is cool\r\n"); //print check
+            BLE.printf("thruster on?...mack is cool\r\n"); //print check
         }
         //stop the timer
         tt.stop();
@@ -233,6 +235,3 @@
         thruster2.pulsewidth(1.0/1000.00);
 
     }
-
-///void thrust_off(float pw, float on_time)  //input is pulse width
-//
\ No newline at end of file