Revision f336542d devices/DiWheelDrive/main.cpp
| devices/DiWheelDrive/main.cpp | ||
|---|---|---|
| 849 | 849 |
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| 850 | 850 |
global.increments.start(); // Start the qei driver |
| 851 | 851 |
|
| 852 |
// Start the three axes gyroscope |
|
| 853 |
global.l3g4200d.configure(&global.gyro_run_config); |
|
| 854 |
global.l3g4200d.start(NORMALPRIO+5); |
|
| 855 |
|
|
| 852 | 856 |
global.odometry.start(NORMALPRIO + 20); |
| 853 | 857 |
|
| 854 | 858 |
global.robot.start(HIGHPRIO - 1); |
| ... | ... | |
| 867 | 871 |
global.lis331dlh.configure(&global.accel_run_config); |
| 868 | 872 |
global.lis331dlh.start(NORMALPRIO+4); |
| 869 | 873 |
|
| 870 |
// Start the three axes gyroscope |
|
| 871 |
global.l3g4200d.configure(&global.gyro_run_config); |
|
| 872 |
global.l3g4200d.start(NORMALPRIO+5); |
|
| 873 |
|
|
| 874 | 874 |
// Start the user thread |
| 875 | 875 |
global.userThread.start(NORMALPRIO); |
| 876 | 876 |
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