Diff: quadCommand/quadCommand.cpp

Revision:

43:e2fc699e8e8c

Parent:

42:9b5d58070e92

Child:

44:a30ba531f614

Child:

46:f1eb22f41ebc

--- a/quadCommand/quadCommand.cpp	Mon Jun 10 01:39:45 2013 +0000
+++ b/quadCommand/quadCommand.cpp	Mon Jun 10 01:46:43 2013 +0000
@@ -14,7 +14,9 @@
     pidYaw(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD)
 {
         Ticker sensorProcess;
-        sensorProcess.attach( this, &quadCommand::sendTelemetry, 2 );
+        //sensorProcess.attach( this,&quadCommand::sendTelemetry, 2 );
+        sensorProcess.attach( this, &quadCommand::updateCurrent, .002 );
+        
         myCom = new com( TXPIN, RXPIN );        // Setup com object.       
         world = new sensors();                  // Setup the sensors.
         
@@ -31,7 +33,7 @@
 void quadCommand::run() 
 {   
     while(1)
-    {      // Checks if there's data from serial
+    {     
         if( myCom->isData() ) 
             rxInput();
     }
@@ -94,4 +96,14 @@
 void quadCommand::sendTelemetry()
 {
     
+}
+
+/************************** updateCurrent() ******************************/
+/*                                                                       */
+/*************************************************************************/
+
+void quadCommand::updateCurrent()
+{
+    currentPitch    = world->getAbsoluteX();
+    currentRoll     = world->getAbsoluteY();
 }
\ No newline at end of file