Diff: main.cpp

Revision:

31:b9ac7d61b15b

Parent:

30:b81274979e73

Child:

32:4f811b397720

--- a/main.cpp	Thu Jan 17 01:44:32 2013 +0000
+++ b/main.cpp	Thu Jan 17 18:09:16 2013 +0000
@@ -3,7 +3,6 @@
 *
 * TODO: Test Servo Code
 *       Test Watchdog Timer
-*       Test Append file and f_size() macro
 */
 
 #include "mbed.h"
@@ -210,7 +209,7 @@
         queue_sensor_line.put(message);
 
         sensor_wd = true; // kick the dog
-        Thread::wait(500);
+        Thread::wait(200);
     }
 }
 
@@ -229,18 +228,12 @@
     left_s.calibrate_min(SERVO_L_MIN);
     right_s.calibrate_max(SERVO_R_MAX);
     right_s.calibrate_min(SERVO_R_MIN);
-
-    // TODO: Calibrate release servo
+    release_s.calibrate_max(SERVO_RELEASE_MAX);
+    release_s.calibrate_min(SERVO_RELEASE_MIN);
 
     left_s = 0.0;
     right_s = 0.0;
-
-    // TODO: Move release servo in and out to allow attachment on startup
-    release_s = 0.0; // NOT TESTED!
-    Thread::wait(1000);
-    parachute_wd = true; // kick the dog
-    Thread::wait(1000);
-    release_s = 1.0;
+    release_s = 0.0;
 
     ////////////////////////////////////////////////////////////////////////////////
 
@@ -258,7 +251,10 @@
             parachute_wd = true; // kick the dog
 
         if(!is_released)
-            release_s = 0.0; // let go of the balloon (NOT Tested)
+        {
+            release_s = 1.0; // let go of the balloon
+            is_released = true;
+        }
         
         if(counter < test_length) // test flight -- (NOT Tested)
         {