Raharja Agie
Read IMU data at Serial port (p28, p27), data rate <100Hz @115200bps Read 5 channels PPM signal at p11 using InterruptIn Send data via RF Modem at serial port (p13, p14) in 36Hz @115200 Drive i2C motor speed controller at I2C port (p9, p10) in every 10mS (control loop delay time)
Diff: main.cpp
- Revision:
- 0:bd282c11d296
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Aug 12 01:08:40 2010 +0000
@@ -0,0 +1,34 @@
+#include "mbed.h"
+#include "struct.h"
+
+short test, test1;
+
+#include "i2c.h"
+#include "rc.h"
+#include "setup.h"
+#include "2gcs.h"
+#include "ahrs.h"
+
+
+int main() {
+ setup();
+ //SendData.attach(&toGCS, 0.02777);
+ //Proccess.attach(&eyetosee, 0.1);
+ ahrs.attach(&ahrs_rec);
+ rc.rise(&PPM_rise); // attach the address of the PPM_rise function to the rising edge
+
+ while(1) { // wait around, interrupts will interrupt this!
+ printf("%d\t", RC.roll);
+ printf("%d\t", RC.throttle);
+ printf("%d\t", RC.pitch);
+ printf("%d\t", RC.yaw);
+ printf("%d\n", RC.sw);
+ wait(0.02);
+ //for(char i=0; i<6; i++){
+ // printf("%d\t", buf_ppm[i]);
+ // bl_L[1]= abs(test - test1);
+ // if(buf_ppm[i] > 5000) printf("%d\t%d\t%d\n", test, test1, bl_L[1]); //("%d\t%d\n", buf_ppm[i], i);
+ // wait(0.02);
+ // }
+ }
+}
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