Diff: main.cpp

Revision:

22:167dacfe0b14

Parent:

20:70d651156779

Child:

23:6e3218cf75f8

--- a/main.cpp	Tue Apr 09 15:33:36 2013 +0000
+++ b/main.cpp	Tue Apr 09 19:24:31 2013 +0000
@@ -2,12 +2,12 @@
 #include "Kalman.h"
 #include "mbed.h"
 #include "rtos.h"
-#include "Actuators/Arms/Arm.h"
-#include "Actuators/MainMotors/MainMotor.h"
-#include "Sensors/Encoders/Encoder.h"
-#include "Sensors/Colour/Colour.h"
-#include "Sensors/CakeSensor/CakeSensor.h"
-#include "Processes/Printing/Printing.h"
+#include "Arm.h"
+#include "MainMotor.h"
+#include "Encoder.h"
+#include "Colour.h"
+#include "CakeSensor.h"
+#include "Printing.h"
 #include "coprocserial.h"
 #include <algorithm>
 
@@ -50,7 +50,7 @@
     
      /*
     DigitalOut l1(LED1);
-    Thread p(printingThread,        NULL,   osPriorityNormal,   2048);
+    Thread p(Printing::printingloop,        NULL,   osPriorityNormal,   2048);
     l1=1;
     Thread a(printingtestthread,    NULL,   osPriorityNormal,   1024);
     Thread b(printingtestthread2,   NULL,   osPriorityNormal,   1024);
@@ -68,7 +68,11 @@
     
     Kalman::start_predict_ticker(&predictthread);
     //Thread::wait(osWaitForever);
-    feedbacktest();
+    //feedbacktest();
+    
+    Thread::wait(3500);
+    Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048);
+    Thread::wait(osWaitForever);
     
 }
 
@@ -78,12 +82,12 @@
 void printingtestthread(void const*){
     const char ID = 1;
     float buffer[3] = {ID};
-    registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
+    Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
     while (true){
         for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
             buffer[i] = ID ;
         }
-        updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
+        Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
         Thread::wait(200);
     }
 }
@@ -91,12 +95,12 @@
 void printingtestthread2(void const*){
     const char ID = 2;
     float buffer[5] = {ID};
-    registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
+    Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
     while (true){
         for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
             buffer[i] = ID;
         }
-        updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
+        Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
         Thread::wait(500);
     }
 }