Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task4.cpp

Revision:
36:d95e3d6f2fc4
Parent:
34:228d87c45151
Child:
37:29feef05d848
--- a/RTOS-Threads/src/Task4.cpp	Tue May 13 02:44:10 2014 +0000
+++ b/RTOS-Threads/src/Task4.cpp	Tue May 13 04:05:34 2014 +0000
@@ -2,10 +2,11 @@
  * Author:      Trung Tin Ian HUA
  * Date:        May 2014
  * Purpose:     Thread4: ESC pulsewidth update. Note this is INDEPENDENT of the pulse frequency.
- * Settings:    200Hz
+ * Settings:    400Hz
  * 200Hz <= PWM frequency <= 400Hz
+ * Frequency:   400Hz
  * Refer to tasks.h to change PWM frequency
- * Timing:      1500us
+ * Timing:      //1500us
  */
 #include "tasks.h"
 #include "setup.h"
@@ -51,6 +52,7 @@
                 stallESC++;
                 if (stallESC > 1) {
                     imu.debugSerial.printf("ESC NOT UPDATED FAST ENOUGH!\n");
+                    BT.printf("ESC NOT UPDATED FAST ENOUGH!\n");
                     stallESC = 0;
                 }
             }
@@ -71,9 +73,6 @@
             ESC[i].pulsewidth_us(ESCpower[i]);
         }
     }
-
-    //if (ESC_check)
-    //BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
 //Timer
 }