My modifications/additions to the code
Dependencies: ADXL345 ADXL345_I2C IMUfilter ITG3200 Servo fishgait mbed-rtos mbed pixy_cam
Fork of robotic_fish_ver_4_8 by
Revision 18:9ba4566f2361, committed 2014-05-22
- Comitter:
- rkk
- Date:
- Thu May 22 13:35:01 2014 +0000
- Parent:
- 17:6970aef8154b
- Child:
- 19:655db88b045c
- Commit message:
- bang bang yaw control
Changed in this revision
MainController.cpp | Show annotated file Show diff for this revision Revisions of this file |
MainController.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/MainController.cpp Thu May 22 04:32:19 2014 +0000 +++ b/MainController.cpp Thu May 22 13:35:01 2014 +0000 @@ -7,9 +7,9 @@ ch4(p17,0.055,0.092), //rudder ch6(p15,0.055,0.092), //volume mcon(p22, p6, p7), // change pin p5 to p7, because p5 is burned through - ap(p25, p26), - leftservo(p21), - rightservo(p22) + ap(p25, p26)//, + //leftservo(p21), + //rightservo(p22) { wait_ms(50); @@ -70,9 +70,9 @@ } //Set Servo Values - pitch = this->calculatePitch(); - leftservo = pitch; - rightservo = 1.0 - pitch; + //pitch = this->calculatePitch(); + //leftservo = pitch; + //rightservo = 1.0 - pitch; // if (curTime > 1/(2*frq) && (switched == false)) // {
--- a/MainController.h Thu May 22 04:32:19 2014 +0000 +++ b/MainController.h Thu May 22 13:35:01 2014 +0000 @@ -61,8 +61,8 @@ PwmIn ch6; PololuMController mcon; Guardian ap; - Servo leftservo; - Servo rightservo; + //Servo leftservo; + //Servo rightservo; Timer timer1; Ticker ticker1;