Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/inc/Task2.h

Committer:
pHysiX
Date:
2014-05-08
Revision:
21:b642c18eccd1
Parent:
20:b193a50a2ba3
Child:
22:ef8aa9728013

File content as of revision 21:b642c18eccd1:

#include "mbed.h"
#include "rtos.h"
#include "tasks.h"

#ifndef _TASK2_H_
#define _TASK2_H_

// ms
#define TASK2_PERIOD 1000/TASK2_FREQUENCY

extern volatile float adjust[3];

extern volatile int gyro[3];

extern bool counterESC;

/* Gyro & PID */
void Task2(void const *argument);

#endif

/*} else {
    yawPIDrate.setSetPoint(0);
    pitchPIDrate.setSetPoint(0);
    rollPIDrate.setSetPoint(0);

    yawPIDrate.setProcessValue(gyro[2]);
    pitchPIDrate.setProcessValue(gyro[1]);
    rollPIDrate.setProcessValue(gyro[0]);

    adjust[0] = yawPIDrate.compute();
    adjust[1] = pitchPIDrate.compute();
    adjust[2] = rollPIDrate.compute();
}*/