Helicopter/firmware
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Code refactoring

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This commit is contained in:
Goga Coder
2024-01-27 21:35:57 +07:00
parent 2aa9648dd4
commit fa0a664e43
14 changed files with 57 additions and 40 deletions
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24
main.cpp
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@@ -1,12 +1,12 @@
// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#include "App.hpp"
#include "BoardI2C.hpp"
//#include "MPU6050_6Axis_MotionApps20.h"
#define IGNORE_CHARGE true
BoardI2C i2c;
/*
BluetoothDispatcher bluetoothDispatcher(new BluetoothSerial());
Sensors *sensors = nullptr; */
static Application *app = nullptr;
@@ -17,21 +17,11 @@ void setup() {
new FlightController(
new Sensors(new Barometer(new GyverBME280(i2c)), new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
new Kalman2DFilter(10.f, 1.f, 1.8f), new BatteryController()),
new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 1), 1),
new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 2), 2),
new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 3), 3), IGNORE_CHARGE)));
/*sensors = new Sensors(
new Barometer(new GyverBME280(i2c)), new MPU(new
MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)), new Kalman2DFilter(10.f, 1.f, 1.8f),
new BatteryController()); sensors->measureBaseAltitudeSync();
bluetoothDispatcher.initialize();
Serial.println("System initialized");*/
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 1), 1),
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 2), 2),
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 3), 3), IGNORE_CHARGE)));
}
void loop() {
app->tick();
/*
sensors->tick();
bluetoothDispatcher.tick();
delay(1);*/
}