autoRC RC_create (double tmin, double tmax, long nt, double dt, double t1, long maxnCoefficients, double defaultLength) {
try {
autoRC me = Thing_new (RC);
RC_init (me.get(), tmin, tmax, nt, dt, t1, maxnCoefficients, defaultLength);
return me;
} catch (MelderError) {
Melder_throw (U"RC not crteated.");
}
}
/**********************************************************************
* Function: Drive_init
* @return SUCCESS or FAILURE.
* @remark Initializes the drive system state machine.
* @author David Goodman
* @date 2013.03.27
**********************************************************************/
bool Drive_init() {
uint16_t RC_pins = MOTOR_LEFT | MOTOR_RIGHT | RUDDER;
RC_init(RC_pins);
Timer_new(TIMER_DRIVE, 1);
#ifdef DEBUG
// Timers for debug print statements
Timer_new(TIMER_TEST2,1);
Timer_new(TIMER_TEST3,1);
#endif
state = STATE_IDLE;
}
