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TRR2018 omar
Fork of biniou by
Diff: main.cpp
- Revision:
- 23:04d393220daa
- Parent:
- 11:bc24b3ba51a9
- Child:
- 27:f8c3f1524a64
--- a/main.cpp Sat Sep 15 15:56:01 2018 +0000 +++ b/main.cpp Sun Sep 16 15:04:41 2018 +0000 @@ -1,34 +1,42 @@ #include "stateMachines.h" +Timer timerLoop; int main() { - -mursInit(); + mursInit(); #ifdef DLVV -obstacleInit(); -#endif -sectionInit(); -maxSpeedInit(); -throttleInit(); + obstacleInit(); +#endif + sectionInit(); + maxSpeedInit(); + throttleInit(); + timerLoop.start(); + while (1) { + if(timerLoop.read_us()>40000) { // output every ms + timerLoop.reset(); + timerLoop.start(); + mursUpdate(); +#ifdef DLVV + obstacleUpdate(); +#endif + } + sectionUpdate(); + maxSpeedUpdate(); + throttleUpdate(); - while (1) { - - mursUpdate(); - #ifdef DLVV - obstacleUpdate(); - #endif - sectionUpdate(); - maxSpeedUpdate(); - throttleUpdate(); - mursOutput(); - #ifdef DLVV +#ifdef DLVV obstacleOutput(); - #endif - sectionOutput(); +#endif + sectionOutput(); maxSpeedOutput(); - throttleOutput(); + throttleOutput(); + +#ifdef SAMPLING + sampleLog(); +#endif + } } \ No newline at end of file