func NewInstances(c Config) (i Instances, err error) {
i.log = log.DefaultLogger
i.navboard = navboard.NewNavboard(c.NavboardTTY, i.log)
i.motorboard, err = motorboard.NewMotorboard(c.MotorboardTTY)
if err != nil {
return
}
i.attitude = attitude.NewComplementary()
i.control = control.NewControl(c.RollPID, c.PitchPID, c.YawPID)
i.http = http.NewHandler(i.control, i.log)
return
}
func main() {
m, err := motorboard.NewMotorboard(motorboard.DefaultTTY, log)
if err != nil {
panic(err)
}
if err := navboard.Calibrate(); err != nil {
log.Fatal(err)
}
defer navboard.Close()
go loop(m)
sigCh := make(chan os.Signal, 1)
signal.Notify(sigCh, os.Interrupt)
<-sigCh
log.Debug("Shutting down")
}