N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
main.cpp@11:dccbaa9274c5, 2015-03-08 (annotated)
- Committer:
- bwang
- Date:
- Sun Mar 08 08:37:38 2015 +0000
- Revision:
- 11:dccbaa9274c5
- Parent:
- 10:b4abecccec7a
- Child:
- 24:f1ff9c7256b5
--Initial Commit: 03-08-2015 new context-based code; no more timers (=easier debugging)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:54cf32d35f4d | 1 | #include "includes.h" |
bwang | 11:dccbaa9274c5 | 2 | #include "transforms.h" |
bwang | 11:dccbaa9274c5 | 3 | #include "filters.h" |
bwang | 11:dccbaa9274c5 | 4 | #include "context.h" |
bwang | 1:1f58bdcf2956 | 5 | #include "core.h" |
bwang | 1:1f58bdcf2956 | 6 | #include "meta.h" |
bwang | 11:dccbaa9274c5 | 7 | #include "sensors.h" |
bwang | 11:dccbaa9274c5 | 8 | #include "callbacks.h" |
nki | 4:fdadf4a3577a | 9 | |
bwang | 11:dccbaa9274c5 | 10 | int main() { |
bwang | 11:dccbaa9274c5 | 11 | Context *context = new Context(); |
bwang | 11:dccbaa9274c5 | 12 | context->ConfigureOutputs(D6, D13, D3, D8); |
bwang | 11:dccbaa9274c5 | 13 | context->ConfigureCurrentSensors(A1, A2, 0.01, 0.95); |
bwang | 11:dccbaa9274c5 | 14 | context->ConfigurePidControllers(0.001f, 0.1f, 0.0f, 5.0f, -5.0f); |
bwang | 11:dccbaa9274c5 | 15 | context->ConfigureThrottle(A0, 0.8f, 3.0f); |
bwang | 11:dccbaa9274c5 | 16 | context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); |
bwang | 11:dccbaa9274c5 | 17 | context->AttachCallBack(&fast, 5000); |
bwang | 11:dccbaa9274c5 | 18 | context->AttachCallBack(&slow, 10); |
bwang | 11:dccbaa9274c5 | 19 | context->AttachCallBack(&debug, 10); |
bwang | 11:dccbaa9274c5 | 20 | context->Start(); |
bwang | 0:54cf32d35f4d | 21 | } |