Diff: main.cpp

Revision:

91:fdadfd883825

Parent:

84:00c799fd10a7

--- a/main.cpp	Wed Apr 17 23:16:25 2013 +0000
+++ b/main.cpp	Tue Oct 15 12:17:11 2013 +0000
@@ -2,11 +2,8 @@
 #include "Kalman.h"
 #include "mbed.h"
 #include "rtos.h"
-#include "Arm.h"
 #include "MainMotor.h"
 #include "Encoder.h"
-#include "Colour.h"
-#include "CakeSensor.h"
 #include "Printing.h"
 #include "coprocserial.h"
 #include <algorithm>
@@ -81,7 +78,7 @@
     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); //2014: add new ai layer
     
     // motion layer periodic callback
     RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic);
@@ -102,7 +99,7 @@
     Timeout timeout_90s;
     timeout_90s.attach(timeisup_isr, 90);
     
-    aithread.signal_set(0x2); //Tell AI thread that its time to go
+    //aithread.signal_set(0x2); //Tell AI thread that its time to go //2014
     
     
     measureCPUidle(); //repurpose thread for idle measurement
@@ -194,7 +191,7 @@
     }
 }
 */
-
+/*
 void cakesensortest()
 {
     wait(1);
@@ -235,7 +232,7 @@
     }
 
 }
-
+*/
 /*
 
 void pt_test()