Revision 35:c42e7e29c3bd, committed 2018-12-31

Comitter:

shimniok

Date:

Mon Dec 31 23:34:28 2018 +0000

Parent:

34:2f7ebc88596d

Child:

36:3095e00eef37

Commit message:

Added servo control for esc and steering

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Mon Dec 31 23:34:28 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/simon/code/Servo/#36b69a7ced07

--- a/SimpleShell.lib	Sat Dec 29 15:24:47 2018 +0000
+++ b/SimpleShell.lib	Mon Dec 31 23:34:28 2018 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/shimniok/code/SimpleShell/#afe994ca0e49
+https://os.mbed.com/users/shimniok/code/SimpleShell/#1a8c5fce8895

--- a/main.cpp	Sat Dec 29 15:24:47 2018 +0000
+++ b/main.cpp	Mon Dec 31 23:34:28 2018 +0000
@@ -10,6 +10,7 @@
 #include "stats_report.h"
 #include "SDBlockDevice.h"
 #include "FATFileSystem.h"
+#include "Servo.h"
 #include "SimpleShell.h"
 #include "Config.h"
 #include "Updater.h"
@@ -35,6 +36,8 @@
 InterruptIn lbutton(LBUTTON, PullUp); // button interrupts
 InterruptIn cbutton(CBUTTON, PullUp);
 InterruptIn rbutton(RBUTTON, PullUp);
+Servo steer(STEERING);
+Servo esc(THROTTLE);
 
 ///////////////////////////////////////////////////////////////////////////////
 // Idle hook
@@ -129,7 +132,15 @@
 SimpleShell sh("/log");
 
 void test(int argc, char **argv) {
-    printf("Hello world!\n");
+    //printf("Hello world!\n");
+    char file[32];
+    
+    for (int i=30; i < 40; i++) {
+        sprintf(file, "/log/%04d.csv", i);
+        printf("removing <%s>\n", file);
+        int stat = remove(file);
+        printf("return: %d\n", stat);
+    }
 }
 
 void stats(int argc, char **argv) {
@@ -228,6 +239,9 @@
     printf("Bootup...\n");
     fflush(stdout);
     
+    steer = 0.50;
+    esc = 0.00;
+    
     printf("Loading config...\n");
     config.add("intercept_distance", Config::DOUBLE);
     config.add("waypoint_threshold", Config::DOUBLE);
@@ -250,7 +264,7 @@
     config.add("steer_scale", Config::DOUBLE);
     config.add("gyro_scale", Config::DOUBLE);
     config.add("gps_valid_speed", Config::DOUBLE);    
-    
+
     if (config.load("/etc/2018cfg.txt")) {
         printf("error loading config\n");
     }

--- a/mbed_app.json	Sat Dec 29 15:24:47 2018 +0000
+++ b/mbed_app.json	Mon Dec 31 23:34:28 2018 +0000
@@ -2,7 +2,7 @@
     "target_overrides": {
         "*": {
             "rtos.idle-thread-stack-size": 256,
-            "rtos.main-thread-stack-size": 4096,
+            "rtos.main-thread-stack-size": 8192,
             "rtos.thread-stack-size": 512,
             "platform.default-serial-baud-rate": 115200,
             "platform.stdio-baud-rate": 115200,