2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: main.cpp
- Revision:
- 45:77cf6375348a
- Parent:
- 44:555136de33e4
- Child:
- 46:adcd57a5e402
--- a/main.cpp Fri Apr 12 16:46:42 2013 +0000 +++ b/main.cpp Fri Apr 12 20:40:52 2013 +0000 @@ -76,28 +76,28 @@ pc.baud(115200); - InitSerial(); - wait(1); - Kalman::KalmanInit(); + // InitSerial(); + // wait(1); + // Kalman::KalmanInit(); - Thread predictthread(Kalman::predictloop, NULL, osPriorityNormal, 2084);//512); //temp 2k - Kalman::start_predict_ticker(&predictthread); + // Thread predictthread(Kalman::predictloop, NULL, osPriorityNormal, 2084);//512); //temp 2k + // Kalman::start_predict_ticker(&predictthread); - Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084); + // Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084); - Ticker motorcontroltestticker; - motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05); + // Ticker motorcontroltestticker; + // motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05); // ai layer thread - Thread aithread(AI::ailayer, NULL, osPriorityNormal, 2048); + // Thread aithread(AI::ailayer, NULL, osPriorityNormal, 2048); // motion layer periodic callback - RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic); - motion_timer.start(50); + // RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic); + // motion_timer.start(50); - Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048); + // Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048); - measureCPUidle(); //repurpose thread for idle measurement - //colourtest(); + // measureCPUidle(); //repurpose thread for idle measurement + colourtest(); //pt_test(); while(true) { Thread::wait(osWaitForever); @@ -174,14 +174,13 @@ void colourtest() { - //Colour c(P_COLOR_SENSOR_BLUE, P_COLOR_SENSOR_RED, P_COLOR_SENSOR_IN,UPPER); - Colour c(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER,LOWER); + Colour c_upper(P_COLOR_SENSOR_BLUE_UPPER, P_COLOR_SENSOR_RED_UPPER, P_COLOR_SENSOR_IN_UPPER,UPPER); + Colour c_lower(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER,LOWER); while(true) { wait(0.1); - ColourEnum ce = c.getColour(); - switch(ce) { + switch(c_lower.getColour()) { case BLUE : printf("BLUE\n"); break; @@ -206,7 +205,7 @@ { DigitalOut _blue_led(p10); DigitalOut _red_led(p11); - AnalogIn _pt(p19); + AnalogIn _pt(p18); bytepack_t datapackage; // first 3 bytes of header is used for alignment