Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task4.cpp

Revision:
2:ab967d7b4346
Parent:
1:43f8ac7ca6d7
Child:
3:605fbcb54e75
--- a/RTOS-Threads/src/Task4.cpp	Tue Apr 29 11:02:18 2014 +0000
+++ b/RTOS-Threads/src/Task4.cpp	Tue Apr 29 11:43:32 2014 +0000
@@ -1,8 +1,17 @@
+/* Update ESC */
+/* 200Hz <= PWM frequency <= 400Hz */
+
 #include "tasks.h"
 #include "setup.h"
 
-/* Extra task */
+int ESCpower[4] = {0, 0, 0, 0};
+
 void Task4(void const *argurment)
 {
-    led4 = !led4;
+    ESC1.pulsewidth_us(ESCpower[0]);
+    ESC2.pulsewidth_us(ESCpower[1]);
+    ESC3.pulsewidth_us(ESCpower[2]);
+    ESC3.pulsewidth_us(ESCpower[3]);
+    
+    //LED[4] = !LED[4];
 }