Diff: main.cpp

Revision:

32:ada943ecaceb

Parent:

29:4e20b44251c6

Child:

33:e3f633620816

--- a/main.cpp	Wed Apr 10 14:34:07 2013 +0000
+++ b/main.cpp	Wed Apr 10 18:04:47 2013 +0000
@@ -79,18 +79,17 @@
     Kalman::KalmanInit();
     
     Thread predictthread(Kalman::predictloop, NULL, osPriorityNormal, 2084);//512); //temp 2k
-    
     Kalman::start_predict_ticker(&predictthread);
     
-    Ticker motorcontroltestticker;
-    motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05);
+    Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084);
+    
+    //Ticker motorcontroltestticker;
+    //motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05);
     
     // motion layer periodic callback
     RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic);
     motion_timer.start(50);
 
-   
-    Thread::wait(3500);
     Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048);
 
     //measureCPUidle(); //repurpose thread for idle measurement