Diff: test_main.cpp

Revision:

9:3193094ba3b2

Parent:

8:874fe459b10a

Child:

11:57f0ab4d0e99

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test_main.cpp	Thu Nov 03 08:15:04 2016 +0000
@@ -0,0 +1,61 @@
+#include "arm.h"
+#include "mbed.h"
+#include "robot.h"
+#include "filter.h"
+
+// ====== Hardware stuff ======
+
+Robot robot;
+
+AnalogIn emg1(A0);
+AnalogIn emg2(A1);
+
+DigitalOut red(LED_RED);
+DigitalOut green(LED_GREEN);
+DigitalOut blue(LED_BLUE);
+
+//====== Constants =====
+
+enum DirectionState{NOTHING, UP, DOWN, FORWARD, BACKWARD};
+enum ProgramState{CALIBRATING, UPDOWN, FORBACK};
+
+const float sampleFrequency = 500;
+const float sampleTime = 1.0f/sampleFrequency;
+
+
+//====== Program Variables ======
+
+ProgramState progState;
+DirectionState dirState;
+
+
+//====== Functions ======
+
+
+void calibrate(void) {
+    //Calibrate function -- blocking.
+    //Calculates and sets both emg1threshold and emg2 threshold
+    
+    
+    
+}
+
+void run() {
+    //Run function -- blocking
+    //runs the calibrated robot
+
+}
+
+
+int main() {
+    progState = CALIBRATING;
+    
+    calibrate();
+    
+    progState = UPDOWN;
+    
+    run();
+    
+    while(true);
+    return 0;
+}
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