Diff: main.cpp

Revision:

46:adcd57a5e402

Parent:

45:77cf6375348a

Child:

50:937e860f4621

--- a/main.cpp	Fri Apr 12 20:40:52 2013 +0000
+++ b/main.cpp	Fri Apr 12 20:59:18 2013 +0000
@@ -75,29 +75,29 @@
     
     
     pc.baud(115200);
-    
- //   InitSerial();
- //   wait(1);
- //   Kalman::KalmanInit();
+    wait(2);
+    InitSerial();
+    wait(3);
+    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);