Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
Fork of ICRSEurobot13 by
Diff: main.cpp
- Revision:
- 32:ada943ecaceb
- Parent:
- 29:4e20b44251c6
- Child:
- 33:e3f633620816
diff -r 00e1493b44f0 -r ada943ecaceb main.cpp --- 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