Diff: main.cpp

Revision:

25:81c3696ba2c9

Parent:

24:7477105103e5

Child:

26:85cdb1031eb1

--- a/main.cpp	Mon Dec 17 23:42:34 2012 +0000
+++ b/main.cpp	Fri Dec 28 17:12:27 2012 +0000
@@ -8,6 +8,8 @@
 #include "ff.h"
 #include "BMP085.h"
 #include "nmea_parser.h"
+#include "watchdog.h"
+#include "Servo.h"
 #include "config.h"
 
 I2C i2c(p9, p10); // sda, scl
@@ -80,8 +82,10 @@
     DigitalOut log_led(LED3);
 
     f_mount(0, &fs);
-    f_open(&fp_gps, "0:gps.txt", FA_CREATE_ALWAYS | FA_WRITE);
-    f_open(&fp_sensor, "0:sensors.csv", FA_CREATE_ALWAYS | FA_WRITE);
+    f_open(&fp_gps, "0:gps.txt", FA_OPEN_EXISTING | FA_WRITE);
+    f_lseek(&fp_gps, f_size(&fp_gps));                                  // NOT TESTED!!!
+    f_open(&fp_sensor, "0:sensors.csv", FA_OPEN_EXISTING | FA_WRITE);
+    f_lseek(&fp_sensor, f_size(&fp_sensor));                            // NOT TESTED!!!
 
     while(1) {
         log_led = !log_led;
@@ -154,6 +158,18 @@
 {
     DigitalOut left_turn(LED4);
     DigitalOut right_turn(LED1);
+    
+    // servos ////////////////////////// NOT TESTED!!! ///////////////////////////
+    Servo left_s(p21);
+    Servo right_s(p22);
+
+    left_s.calibrate_max(0.0007);
+    left_s.calibrate_min(-0.0014);
+    right_s.calibrate(0.0009);
+    
+    left_s = 0.0;
+    right_s = 0.0;
+    ////////////////////////////////////////////////////////////////////////////////
 
     right_turn = 1;
     Thread::wait(400);
@@ -181,10 +197,16 @@
             continue; // don't do anything
         } else if(course_diff > 180.0 || course_diff < 0.0) {
             left_turn = 1;
+            right_s = 0.0;                                      // NOT TESTED!!!
+            left_s = 1.0;
             Thread::wait(400); // turn left
+            left_s = 0.0;
         } else {
             right_turn = 1;
+            left_s = 0.0;
+            right_s = 1.0;
             Thread::wait(400); // turn righ
+            right_s = 0.0;
         }
     }
 }
@@ -196,6 +218,13 @@
     Thread thread2(log_thread, NULL, osPriorityNormal);
     Thread thread3(sensor_thread, NULL, osPriorityNormal);
     Thread thread4(parachute_thread, NULL, osPriorityRealtime);
+    
+    Watchdog wdt; // NOT TESTED!!!
+    
+    wdt.kick(2.0);
 
-    while(true) ;
+    while(true) {
+        wdt.kick();
+        Thread::wait(500);
+    }
 }
\ No newline at end of file