From 7e2f5be1379a3ed2d2f8eb1e1cd969402ae7bfaa Mon Sep 17 00:00:00 2001
From: Matteo Pignataro <matteo.pignataro@skywarder.eu>
Date: Mon, 7 Feb 2022 23:11:05 +0100
Subject: [PATCH] [ParafoilTestDev] Added wing controller  - Compile OK  -
 Execution by the task scheduler OK

---
 CMakeLists.txt                                |   3 +-
 .../ParafoilTestDev/UMLWingControlDiagram.dia | Bin 0 -> 3171 bytes
 .../ParafoilTestDev/UMLWingControlDiagram.png | Bin 0 -> 73281 bytes
 src/boards/ParafoilTest/ParafoilTest.h        |  26 ++-
 src/boards/ParafoilTest/ParafoilTestStatus.h  |   8 +-
 .../ParafoilTest/Wing/WingAlgorithm.cpp       |  65 ++++++-
 src/boards/ParafoilTest/Wing/WingAlgorithm.h  |  29 +++-
 src/boards/ParafoilTest/Wing/WingConfig.h     |  12 +-
 .../ParafoilTest/Wing/WingController.cpp      | 158 ++++++++++++++++++
 src/boards/ParafoilTest/Wing/WingController.h | 143 ++++++++++++++++
 src/entrypoints/parafoilTest-entry.cpp        |  16 ++
 11 files changed, 433 insertions(+), 27 deletions(-)
 create mode 100644 data/ParafoilTestDev/UMLWingControlDiagram.dia
 create mode 100644 data/ParafoilTestDev/UMLWingControlDiagram.png

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fcab40c68..b26523f56 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,7 +36,8 @@ add_executable(parafoilTest-entry 	src/entrypoints/parafoilTest-entry.cpp
 					src/boards/ParafoilTest/Main/Sensors.cpp
 					src/boards/ParafoilTest/Main/Radio.cpp
 					src/boards/ParafoilTest/Wing/WingServo.cpp
-					src/boards/ParafoilTest/Wing/WingAlgorithm.cpp)
+					src/boards/ParafoilTest/Wing/WingAlgorithm.cpp
+					src/boards/ParafoilTest/Wing/WingController.cpp)
 sbs_target(parafoilTest-entry stm32f429zi_stm32f4discovery)
 target_include_directories(parafoilTest-entry PRIVATE src/boards/ParafoilTest
 						      src/)
diff --git a/data/ParafoilTestDev/UMLWingControlDiagram.dia b/data/ParafoilTestDev/UMLWingControlDiagram.dia
new file mode 100644
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HcmV?d00001

diff --git a/src/boards/ParafoilTest/ParafoilTest.h b/src/boards/ParafoilTest/ParafoilTest.h
index 457549b6e..15922e2bc 100644
--- a/src/boards/ParafoilTest/ParafoilTest.h
+++ b/src/boards/ParafoilTest/ParafoilTest.h
@@ -24,6 +24,7 @@
 
 #include <miosix.h>
 #include <ParafoilTestStatus.h>
+#include <Wing/WingController.h>
 #include <Main/Sensors.h>
 #include <Main/Radio.h>
 #include <events/EventBroker.h>
@@ -53,6 +54,11 @@ namespace ParafoilTestDev
          */
         Sensors* sensors;
 
+        /**
+         * @brief Wing algorithm controller
+         */
+        WingController* wingController;
+
         /**
          * @brief Radio that manages the interaction between
          * the xbee module and mavlink
@@ -76,19 +82,22 @@ namespace ParafoilTestDev
                 status.setError(&ParafoilTestStatus::eventBroker);
             }
 
+            //Start the wing controller
+            wingController -> start();
+
             //Start the sensors sampling
-            if(!sensors -> start())
+            /*if(!sensors -> start())
             {
                 LOG_ERR(log, "Error starting sensors");
                 status.setError(&ParafoilTestStatus::sensors);
-            }
+            }*/
 
             //Start the radio
-            if(!radio -> start())
+            /*if(!radio -> start())
             {
                 LOG_ERR(log, "Error starting the radio");
                 status.setError(&ParafoilTestStatus::radio);
-            }
+            }*/
 
             //After all the initializations i log the status
             logger -> log(status);
@@ -140,12 +149,15 @@ namespace ParafoilTestDev
             //Create the task scheduler
             scheduler = new TaskScheduler();
 
+            //Create the wing controller
+            wingController = new WingController(scheduler);
+
             //Create the sensors
-            SPIBusInterface *spiInterface1 = new SPIBus(SPI1);
-            sensors = new Sensors(*spiInterface1, scheduler);
+            //SPIBusInterface *spiInterface1 = new SPIBus(SPI1);
+            //sensors = new Sensors(*spiInterface1, scheduler);
 
             //Create a new radio
-            radio = new Radio(*spiInterface1);
+            //radio = new Radio(*spiInterface1);
         }
 
         /**
diff --git a/src/boards/ParafoilTest/ParafoilTestStatus.h b/src/boards/ParafoilTest/ParafoilTestStatus.h
index 7875c948b..1ddf969e6 100644
--- a/src/boards/ParafoilTest/ParafoilTestStatus.h
+++ b/src/boards/ParafoilTest/ParafoilTestStatus.h
@@ -44,10 +44,10 @@ namespace ParafoilTestDev
         uint8_t parafoil_test = OK;
 
         //Specific errors
-        uint8_t logger      = OK;
-        uint8_t eventBroker = OK;
-        uint8_t sensors     = OK;
-        uint8_t radio       = OK;
+        uint8_t logger          = OK;
+        uint8_t eventBroker     = OK;
+        uint8_t sensors         = OK;
+        uint8_t radio           = OK;
 
         /**
          * @brief Method to set a specific component in an error state
diff --git a/src/boards/ParafoilTest/Wing/WingAlgorithm.cpp b/src/boards/ParafoilTest/Wing/WingAlgorithm.cpp
index 5f88a6291..0afd4b5f8 100644
--- a/src/boards/ParafoilTest/Wing/WingAlgorithm.cpp
+++ b/src/boards/ParafoilTest/Wing/WingAlgorithm.cpp
@@ -38,13 +38,15 @@ namespace ParafoilTestDev
     /**
      * PUBLIC METHODS
      */
-    WingAlgorithm::WingAlgorithm(WingServo* servo1, WingServo* servo2, const char* filename)
+    WingAlgorithm::WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2, const char* filename)
                  : parser(filename)
     {
-        this -> servo1 = servo1;
-        this -> servo2 = servo2;
+        setServo(servo1, servo2);
     }
 
+    WingAlgorithm::WingAlgorithm(const char* filename)
+                 : parser(filename){}
+
     bool WingAlgorithm::init()
     {
         //Returns a std::vector which contains
@@ -56,6 +58,37 @@ namespace ParafoilTestDev
         return fileValid;
     }
 
+    void WingAlgorithm::setServo(ServoInterface* servo1, ServoInterface* servo2)
+    {
+        if(servo1 != NULL)
+        {
+            this -> servo1 = servo1;
+        }
+        else
+        {
+            //In this case i create a standard servo from the wing config file
+            servo1 = new WingServo(WING_SERVO1_TIMER,
+                                   WING_SERVO1_PWM_CHANNEL,
+                                   WING_SERVO1_MIN_POSITION,
+                                   WING_SERVO1_MAX_POSITION,
+                                   WING_SERVO1_RESET_POSITION);
+        }
+
+        if(servo2 != NULL)
+        {
+            this -> servo2 = servo2;
+        }
+        else
+        {
+            //In this case i create a standard servo from the wing config file
+            servo2 = new WingServo(WING_SERVO2_TIMER,
+                                   WING_SERVO2_PWM_CHANNEL,
+                                   WING_SERVO2_MIN_POSITION,
+                                   WING_SERVO2_MAX_POSITION,
+                                   WING_SERVO2_RESET_POSITION);
+        }
+    }
+
     void WingAlgorithm::addStep(WingAlgorithmData step)
     {
         //I do it if and only if the file is invalid, because 
@@ -70,6 +103,7 @@ namespace ParafoilTestDev
     void WingAlgorithm::begin()
     {
         running = true;
+        shouldReset = true;
         //Set the current timestamp
         timeStart = TimestampTimer::getInstance().getTimestamp();
     }
@@ -86,11 +120,17 @@ namespace ParafoilTestDev
      */
     void WingAlgorithm::step()
     {
-        //Variable to remember the what is the stab that has to be done
+        //Variable to remember what is the step that has to be done
         static unsigned int stepIndex = 0;
         uint64_t currentTimestamp = TimestampTimer::getInstance().getTimestamp();
-        
-        
+
+        if(shouldReset)
+        {
+            //If the algorithm has been stopped 
+            //i want to start from the beginning
+            stepIndex   = 0;
+            shouldReset = false;
+        }
 
         if(stepIndex >= steps.size())
         {
@@ -104,9 +144,16 @@ namespace ParafoilTestDev
 
         if(currentTimestamp - timeStart >= steps[stepIndex].timestamp)
         {
-            //I need to execute the current step
-            servo1->set(steps[stepIndex].servo1Angle);
-            servo2->set(steps[stepIndex].servo1Angle);
+            //TODO log the action
+            //I need to execute the current step (if not null servos)
+            if(servo1 != NULL)
+            {
+                servo1->set(steps[stepIndex].servo1Angle);
+            }
+            if(servo2 != NULL)
+            {
+                servo2->set(steps[stepIndex].servo2Angle);
+            }
 
             //finally increment the stepIndex
             stepIndex++;
diff --git a/src/boards/ParafoilTest/Wing/WingAlgorithm.h b/src/boards/ParafoilTest/Wing/WingAlgorithm.h
index d4d345a3f..2887948de 100644
--- a/src/boards/ParafoilTest/Wing/WingAlgorithm.h
+++ b/src/boards/ParafoilTest/Wing/WingAlgorithm.h
@@ -63,7 +63,7 @@ namespace ParafoilTestDev
 {
     struct WingAlgorithmData
     {
-        uint64_t timestamp; //First timestamp is 0
+        uint64_t timestamp; //First timestamp is 0 (in microseconds)
         float servo1Angle;  //degrees
         float servo2Angle;  //degrees
     };
@@ -79,7 +79,14 @@ namespace ParafoilTestDev
          * @param servo2 The second servo
          * @param filename The csv file where all the operations are stored
          */
-        WingAlgorithm(WingServo* servo1, WingServo* servo2, const char* filename);
+        WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2, const char* filename);
+
+        /**
+         * @brief Construct a new Wing Algorithm object
+         * 
+         * @param filename The csv file where all the operations are stored
+         */
+        WingAlgorithm(const char* filename);
 
         /**
          * @brief This method parses the file and stores it into a std::vector
@@ -89,6 +96,13 @@ namespace ParafoilTestDev
          */
         bool init() override;
 
+        /**
+         * @brief Set the Servos objects
+         * @param servo1 The first algorithm servo
+         * @param servo2 The second algorithm servo
+         */
+        void setServo(ServoInterface* servo1, ServoInterface* servo2);
+
         /**
          * @brief Adds manually the step in case of fast debug needs
          * 
@@ -113,14 +127,19 @@ namespace ParafoilTestDev
         void step() override;
 
         //Actuators
-        WingServo* servo1;
-        WingServo* servo2;
+        ServoInterface* servo1;
+        ServoInterface* servo2;
         //Offset timestamp
         uint64_t timeStart;
         //Procedure
         std::vector<WingAlgorithmData> steps;
         //File parser
         CSVParser<WingAlgorithmData> parser;
-        bool fileValid = false;
+        bool fileValid      = false;
+        //This boolean is used to understand when to reset
+        //the index where the algorithm has stopped.
+        //In case of end call, we want to be able to perform
+        //another time this algorithm starting from 0
+        bool shouldReset    = false;
     };
 }
\ No newline at end of file
diff --git a/src/boards/ParafoilTest/Wing/WingConfig.h b/src/boards/ParafoilTest/Wing/WingConfig.h
index b4e5e7e70..213f00bf3 100644
--- a/src/boards/ParafoilTest/Wing/WingConfig.h
+++ b/src/boards/ParafoilTest/Wing/WingConfig.h
@@ -31,6 +31,16 @@ using namespace Boardcore;
  */
 namespace ParafoilTestDev
 {
+    /**
+     * ALGORITHM CONFIGURATION
+     */
+    static const uint32_t   WING_UPDATE_PERIOD = 10; //milliseconds
+    static const uint8_t    WING_CONTROLLER_ID = 100; //TODO define a correct ID
+
+    /**
+     * SERVOS CONFIGURATIONS
+     */
+
     //16 bit, 45MHz, no DMA timer
     static TIM_TypeDef* WING_SERVO1_TIMER = TIM13;
     static TIM_TypeDef* WING_SERVO2_TIMER = TIM14;
@@ -40,7 +50,7 @@ namespace ParafoilTestDev
 
     //Servo dipendent variables
     static const unsigned int WING_SERVO_MIN_PULSE = 1000;
-    static const unsigned int WING_SERVO_MAX_PULSE = 2000;
+    static const unsigned int WING_SERVO_MAX_PULSE = 2500;
     static const unsigned int WING_SERVO_FREQUENCY = 50;
 
     static const float WING_SERVO1_MAX_POSITION = 180; //degrees
diff --git a/src/boards/ParafoilTest/Wing/WingController.cpp b/src/boards/ParafoilTest/Wing/WingController.cpp
index e69de29bb..ecd4ea7b7 100644
--- a/src/boards/ParafoilTest/Wing/WingController.cpp
+++ b/src/boards/ParafoilTest/Wing/WingController.cpp
@@ -0,0 +1,158 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#include <Wing/WingConfig.h>
+#include <Wing/WingController.h>
+
+namespace ParafoilTestDev
+{
+    /**
+     * PUBLIC METHODS
+     */
+    WingController::WingController(TaskScheduler* scheduler)
+    {
+        //Assign the task scheduler
+        this -> scheduler = scheduler;
+
+        //Set the current running state
+        this -> running = false;
+
+        //Set the current selected algorithm to 0
+        this -> selectedAlgorithm = 0;
+
+        //Initialize the servos, enable them,
+        //register the task into the task scheduler
+        init();
+    }
+
+    WingController::~WingController()
+    {
+        //Delete the servos
+        delete servo1;
+        delete servo2;
+    }
+
+    void WingController::addAlgorithm(const char* filename)
+    {
+        //Create the algorithm
+        WingAlgorithm* algorithm = new WingAlgorithm(servo1, servo2, filename);
+        
+        //Add the algorithm to the vector and init it
+        algorithms.push_back(algorithm);
+        //If init fails[Beacuse of inexistent file or stuff] doesn't matter
+        //Because the algorithm is empty and so it won't do anything
+        algorithms[algorithms.size() - 1] -> init();
+    }
+
+    void WingController::addAlgorithm(WingAlgorithm* algorithm)
+    {
+        //Ensure that the servos are correct
+        algorithm->setServo(servo1, servo2);
+
+        //Add the algorithm to the vector
+        algorithms.push_back(algorithm);
+    }
+
+    void WingController::selectAlgorithm(unsigned int index)
+    {
+        if(index >= 0 && index < algorithms.size())
+        {
+            selectedAlgorithm = index;
+        }
+        else
+        {
+            //I select the 0 algorithm
+            selectedAlgorithm = 0;
+        }
+    }
+
+    void WingController::start()
+    {
+        //If the selected algorithm is valid --> also the 
+        //algorithms array is not empty i start the whole thing
+        if(selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
+        {
+            //Set the boolean that enables the update method to true
+            running = true;
+
+            //Begin the selected algorithm
+            algorithms[selectedAlgorithm] -> begin();
+
+            //Also start the scheduler
+            scheduler -> start();
+        }
+    }
+
+    void WingController::stop()
+    {
+        //Set running to false so that the update method doesn't act
+        running = false;
+        //Stop the algorithm if selected
+        if(selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
+        {
+            algorithms[selectedAlgorithm] -> end();
+        }
+    }
+
+    void WingController::update()
+    {
+        //Check if the algorithm is running
+        if(!running)
+        {
+            return;
+        }
+
+        //If the selected algorithm is valid i can update it
+        if(selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
+        {
+            algorithms[selectedAlgorithm] -> update();
+        }
+    }
+
+    /**
+     * PRIVATE METHODS
+     */
+    void WingController::init()
+    {
+        //Instanciate the servos
+        servo1 = new WingServo(WING_SERVO1_TIMER,
+                               WING_SERVO1_PWM_CHANNEL,
+                               WING_SERVO1_MIN_POSITION,
+                               WING_SERVO1_MAX_POSITION,
+                               WING_SERVO1_RESET_POSITION);
+        
+        servo2 = new WingServo(WING_SERVO2_TIMER,
+                               WING_SERVO2_PWM_CHANNEL,
+                               WING_SERVO2_MIN_POSITION,
+                               WING_SERVO2_MAX_POSITION,
+                               WING_SERVO2_RESET_POSITION);
+        
+        //Enable servos
+        servo1 -> enable();
+        servo2 -> enable();
+
+        //Register the task
+        TaskScheduler::function_t updateFunction([=]() {update();});
+        
+        scheduler -> addTask(updateFunction, WING_UPDATE_PERIOD,
+                                             WING_CONTROLLER_ID);
+    }
+}
\ No newline at end of file
diff --git a/src/boards/ParafoilTest/Wing/WingController.h b/src/boards/ParafoilTest/Wing/WingController.h
index e69de29bb..c0eeace1b 100644
--- a/src/boards/ParafoilTest/Wing/WingController.h
+++ b/src/boards/ParafoilTest/Wing/WingController.h
@@ -0,0 +1,143 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#pragma once
+
+#include <Wing/WingAlgorithm.h>
+#include <scheduler/TaskScheduler.h>
+
+/**
+ * @brief This class allows the user to select the wing algorithm
+ * that has to be used during the tests. It also registers his 
+ * dedicated function in the task schduler in order to be
+ * executed every fixed period and to update the two servos position
+ * depending on the selected algorithm.
+ * 
+ * Use case example:
+ * controller = new WingController(scheduler);
+ * 
+ * controller.addAlgorithm("filename");
+ * OR
+ * controller.addAlgorithm(algorithm);
+ * 
+ * controller.selectAlgorithm(index);
+ * 
+ * controller.start();
+ * controller.stop();  //If you want to abort the execution
+ * controller.start(); //If you want to start again from the beginning
+ */
+
+using namespace Boardcore;
+
+namespace ParafoilTestDev
+{
+    class WingController
+    {
+    private:
+        /**
+         * @brief Servo actuators
+         */
+        ServoInterface* servo1;
+        ServoInterface* servo2;
+
+        /**
+         * @brief List of loaded algorithms (from SD or not)
+         */
+        std::vector<WingAlgorithm*> algorithms;
+
+        /**
+         * @brief The common task scheduler
+         */
+        TaskScheduler* scheduler;
+
+        /**
+         * @brief This attribute is modified by the mavlink radio section.
+         * The user using the Ground Station can select the pre-enumered algorithm to execute
+         */
+        unsigned int selectedAlgorithm;
+
+        /**
+         * @brief Internal running state
+         */
+        bool running;
+
+        /**
+         * @brief Initialization method. It registers the update method
+         * into the task scheduler
+         */
+        void init();
+
+    public:
+
+        /**
+         * @brief Construct a new Wing Controller object
+         * 
+         * @param scheduler The main used task scheduler
+         */
+        WingController(TaskScheduler* scheduler);
+
+        /**
+         * @brief Destroy the Wing Controller object.
+         * In particular destroys the servo instances 
+         */
+        ~WingController();
+
+        /**
+         * @brief Method to add the algorithm in the list
+         * 
+         * @param filename The SD file where to read the instructions
+         */
+        void addAlgorithm(const char* filename);
+
+        /**
+         * @brief Method to add the algorithm in the list
+         * 
+         * @param algorithm The algorithm with 
+         * all already done (e.g. steps already registered)
+         */
+        void addAlgorithm(WingAlgorithm* algorithm);
+
+        /**
+         * @brief Selects the algorithm if present.
+         * 
+         * @param index The algorithms vector index
+         */
+        void selectAlgorithm(unsigned int index);
+
+        /**
+         * @brief Sets the internal state running and
+         * starts the selected algorithm
+         */
+        void start();
+        
+        /**
+         * @brief Sets the internal state to stop and
+         * stops the selected algorithm
+         */
+        void stop();
+
+        /**
+         * @brief Method that is called every time period
+         * to update the internal wing servos states
+         */
+        void update();
+    };
+}
\ No newline at end of file
diff --git a/src/entrypoints/parafoilTest-entry.cpp b/src/entrypoints/parafoilTest-entry.cpp
index 91870acde..e808da322 100644
--- a/src/entrypoints/parafoilTest-entry.cpp
+++ b/src/entrypoints/parafoilTest-entry.cpp
@@ -19,14 +19,30 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  * THE SOFTWARE.
  */ 
+#include <miosix.h>
 #include <ParafoilTest.h>
 
 using namespace ParafoilTestDev;
 
 int main()
 {
+	miosix::GpioPin servo(GPIOA_BASE, 6);
+	servo.mode(miosix::Mode::ALTERNATE);
+	servo.alternateFunction(9);
+
+	miosix::GpioPin servo2(GPIOA_BASE, 7);
+	servo2.mode(miosix::Mode::ALTERNATE);
+	servo2.alternateFunction(9);
+
 	//TODO integrate all the logging stuff
 	ParafoilTest::getInstance().start();
 
+	miosix::Thread::sleep(2000);
+	ParafoilTest::getInstance().wingController->stop();
+	ParafoilTest::getInstance().wingController->start();
+
+	while(true)
+	{}
+
 	return 0;
 } 
-- 
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