Diff: main.cpp

Revision:

1:675b67b2ae02

Parent:

0:05da2ae2ad90

Child:

4:40dc3d3da129

--- a/main.cpp	Mon Oct 14 10:01:30 2019 +0000
+++ b/main.cpp	Tue Oct 22 08:43:25 2019 +0000
@@ -1,68 +1,56 @@
-/* FXOS8700Q Example Program
- * Copyright (c) 2014-2015 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
 #include "mbed.h"
-#include "FXOS8700Q.h"
-
-Serial pc(USBTX, USBRX);
-I2C i2c(PTE25, PTE24);
-//FXOS8700Q fxos(i2c, FXOS8700CQ_SLAVE_ADDR1);
-FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
-FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
-//FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR0);    // Configured for use with the FRDM-MULTI shield
-//FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR0);
+#include "MODSERIAL.h"
+#include "QEI.h"
 
 
-int main(void)
-{
-    motion_data_units_t acc_data, mag_data;
-    motion_data_counts_t acc_raw, mag_raw;
-    float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
-    int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;
+Serial pc(USBTX, USBRX);
+
+enum states {WAITING, MOTOR_ANGLE_CLBRT, EMG_CLBRT, HOMING, WAITING4SIGNAL, OPERATION, SHOOTING, DEMO, FAILURE_MODE};
+states currentState = WAITING;      // Start in waiting state
 
-    acc.enable();
-    mag.enable();
-    printf("FXOS8700QAccelerometer Who Am I= %X\r\n", acc.whoAmI());
-    printf("FXOS8700QMagnetometer Who Am I= %X\r\n", acc.whoAmI());
-    while (true) {
-        // counts based results
-        acc.getAxis(acc_raw);
-        mag.getAxis(mag_raw);
-        printf("ACC: X=%06dd Y=%06dd Z=%06dd \t MAG: X=%06dd Y=%06dd Z=%06dd\r\n", acc_raw.x, acc_raw.y, acc_raw.z, mag_raw.x, mag_raw.y, mag_raw.z);
-        acc.getX(raX);
-        acc.getY(raY);
-        acc.getZ(raZ);
-        mag.getX(rmX);
-        mag.getY(rmY);
-        mag.getZ(rmZ);
-        printf("ACC: X=%06dd Y=%06dd Z=%06dd \t MAG: X=%06dd Y=%06dd Z=%06dd\r\n", raX, raY, raZ, rmX, rmY, rmZ);
-        printf("ACC: X=%06dd Y=%06dd Z=%06dd \t MAG: X=%06dd Y=%06dd Z=%06dd\r\n", acc.getX(tmp_int), acc.getY(tmp_int), acc.getZ(tmp_int), mag.getX(tmp_int), mag.getY(tmp_int), mag.getZ(tmp_int));
-        // unit based results
-        acc.getAxis(acc_data);
-        mag.getAxis(mag_data);
-        printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t MAG: X=%4.1ff Y=%4.1ff Z=%4.1ff\r\n", acc_data.x, acc_data.y, acc_data.z, mag_data.x, mag_data.y, mag_data.z);
-        acc.getX(faX);
-        acc.getY(faY);
-        acc.getZ(faZ);
-        mag.getX(fmX);
-        mag.getY(fmY);
-        mag.getZ(fmZ);
-        printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t MAG: X=%4.1ff Y=%4.1ff Z=%4.1ff\r\n", faX, faY, faZ, fmX, fmY, fmZ);
-        printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t MAG: X=%4.1ff Y=%4.1ff Z=%4.1ff\r\n", acc.getX(tmp_float), acc.getY(tmp_float), acc.getZ(tmp_float), mag.getX(tmp_float), mag.getY(tmp_float), mag.getZ(tmp_float));
-        puts("");
-        wait(5.0f);
+void state_machine(void){
+    
+    switch(current_state){
+        
+        case WAITING:
+        
+        break;
+        
+        case MOTOR_ANGLE_CLBRT:
+        
+        break;
+        
+        case EMG_CLBRT:
+        
+        break;
+        
+        case HOMING:
+        
+        break;
+        
+        case WAITING4SIGNAL:
+        
+        break;
+        
+        case OPERATION:
+        
+        break;
+        
+        case SHOOTING:
+        
+        break;
+        
+        case DEMO:
+        
+        break;
+        
+        case FAILURE_MODE:
+        
+        break;
+
+
+int main()
+{
+
     }
 }
\ No newline at end of file