37 lines
1.2 KiB
C++
37 lines
1.2 KiB
C++
#include "App.hpp"
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#include "BoardI2C.hpp"
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//#include "MPU6050_6Axis_MotionApps20.h"
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#define IGNORE_CHARGE true
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BoardI2C i2c;
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/*
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BluetoothDispatcher bluetoothDispatcher(new BluetoothSerial());
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Sensors *sensors = nullptr; */
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static Application *app = nullptr;
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void setup() {
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Serial.begin(115200);
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app = new Application(new FlightDispatcher(
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new BluetoothDispatcher(new BluetoothSerial()),
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new FlightController(
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new Sensors(new Barometer(new GyverBME280(i2c)), new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
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new Kalman2DFilter(10.f, 1.f, 1.8f), new BatteryController()),
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new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 1), 1),
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new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 2), 2),
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new PIDController(1, 1, 1, new BrushedMotor(1, 2, 3, 4, 3), 3), IGNORE_CHARGE)));
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/*sensors = new Sensors(
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new Barometer(new GyverBME280(i2c)), new MPU(new
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MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)), new Kalman2DFilter(10.f, 1.f, 1.8f),
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new BatteryController()); sensors->measureBaseAltitudeSync();
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bluetoothDispatcher.initialize();
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Serial.println("System initialized");*/
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}
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void loop() {
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app->tick();
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/*
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sensors->tick();
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bluetoothDispatcher.tick();
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delay(1);*/
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} |