MorphGI / Mbed OS LoCoMoTE_MidLevel_7-0

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Dependencies:   ros_lib_kinetic

Diff: LLComms.cpp

Revision:
13:a373dfc57b89
Parent:
12:595ed862e52f
Child:
14:54c3759e76ed
diff -r 595ed862e52f -r a373dfc57b89 LLComms.cpp
--- a/LLComms.cpp	Mon Aug 13 09:16:29 2018 +0000
+++ b/LLComms.cpp	Wed Aug 29 10:47:02 2018 +0000
@@ -2,8 +2,10 @@
 
 #include "LLComms.h"
 
+//DigitalOut pinTesty(PB_8);
+
 LLComms::LLComms() : 
-    queue(32 * EVENTS_EVENT_SIZE), //8 * EVENTS_EVENT_SIZE
+    queue(32 * EVENTS_EVENT_SIZE), //32 //8 * EVENTS_EVENT_SIZE
     pinGate6(PE_11),
     spi(PC_12, PC_11, PC_10),
     pinCheck(PE_5),
@@ -63,6 +65,7 @@
 //LLComms::~LLComms(void) { } // Destructor
 
 void LLComms::SendReceiveData(int channel) {
+    //pinTesty = 1;
     int intPosSPI_Rx[N_CHANNELS]; // 13 bit value received over SPI from the actuator
     
     // Get data from controller
@@ -85,6 +88,7 @@
     //dblPosition_mtrs[channel] = (double)intPosSPI_Rx[channel]/8191*(MAX_ACTUATOR_LENGTH/DBL_ACTUATOR_CONVERSION[channel])/1000;
     mutChannel[channel].unlock();//unlock mutex for specific channel
     //if(IS_PRINT_OUTPUT) printf("%d, %d\r\n",intPosSPI_Rx[0],_intDemandPos_Tx[0]);
+    //pinTesty = 0;
 }
 
 // Common rise handler function