Diff: RTOS-Threads/inc/Task2.h

Revision:

22:ef8aa9728013

Parent:

21:b642c18eccd1

diff -r b642c18eccd1 -r ef8aa9728013 RTOS-Threads/inc/Task2.h
--- a/RTOS-Threads/inc/Task2.h	Thu May 08 09:39:12 2014 +0000
+++ b/RTOS-Threads/inc/Task2.h	Thu May 08 10:33:43 2014 +0000
@@ -1,3 +1,10 @@
+/* File:        Task2.h
+ * Author:      Trung Tin Ian HUA
+ * Date:        May 2014
+ * Purpose:     Thread2: Gyro sample and PID Control loop
+ * Settings:    200Hz
+ */ 
+
 #include "mbed.h"
 #include "rtos.h"
 #include "tasks.h"
@@ -5,31 +12,14 @@
 #ifndef _TASK2_H_
 #define _TASK2_H_
 
-// ms
+// ms timing: Refer to tasks.h to change frequency of Task2.
 #define TASK2_PERIOD 1000/TASK2_FREQUENCY
 
 extern volatile float adjust[3];
-
 extern volatile int gyro[3];
-
 extern bool counterESC;
 
-/* Gyro & PID */
+/* Thread2: Gyro Sample & PID Computation */
 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();
-}*/
-