Diff: main.cpp

Revision:

24:d0ca537913c2

Parent:

23:767911637f3a

Child:

27:71be6e074d0f

--- a/main.cpp	Tue Oct 08 13:45:30 2019 +0000
+++ b/main.cpp	Wed Oct 09 07:11:45 2019 +0000
@@ -7,9 +7,6 @@
     
 //Homebrew libraries
     #include "header.h"
-    //#include "controller.cpp"
-    #include "globalvariables.cpp"
-
 
 //Objects
     //LED
@@ -39,17 +36,15 @@
     volatile char ledcolor; //r is red, b is blue, g is green, t is bluegreen, p is purple
     volatile int errorCode;
     
-    //Ticker Timings
-        const float mainLoopT = 2; //Main Loopt Ticker wait
-        const float ledFlipperT = .5; //LED Flicker wait
+//Ticker Timings
+    const float mainLoopT = 2; //Main Loopt Ticker wait
+    const float ledFlipperT = .5; //LED Flicker wait
     
-
-
 //Tickers
     Ticker Main_Ticker;
     Ticker Tick_Blinky;//used for the blinking of the leds
 
-//Led FLicker
+//Changing LED colour depending on current state
 void FlipLED(void)
 {
     pc.printf("FLIPLED \r\n");
@@ -87,6 +82,7 @@
     pc.printf("Color %c \r\n",ledcolor);
 }
 
+// Testing Placeholder
 // SW2 = button1 state changing
 void Run_StateChangerButton1()
 {
@@ -115,6 +111,8 @@
         break;
     }
 }
+
+// Testing Placeholder
 // SW3 = button2 state changing
 void Run_StateChangerButton2(void)
 {
@@ -132,7 +130,6 @@
     }
 }
 
-
 //State functions
 void Run_Demo(void)
 {
@@ -159,7 +156,6 @@
     pc.printf("Starting Calibration Physical ... \r\n");
     wait(1);
     CurrentState = CalibrationIdle;
-    
 }
 
 void Run_CalibrationEMG(void)
@@ -186,7 +182,6 @@
 //State Machine
 void StateMachine(void)
 {
-    //Turn off all LEDs    
     switch(CurrentState)
     {
         case Demo:
@@ -232,43 +227,51 @@
     }
 }
 
-//Main Loop
+//Main Loop, constantly running function
 void mainloop()
 {
         StateMachine(); 
 }
 
+//The main function
 int main()
 {   
-    //Initialize
-    ledr = true;
-    //ledr.write(.4);
-    ledg = true;
-    //ledg.write(.4);
-    ledb = true;
-    //ledb.write(.4);
-    
-    pc.baud(115200);    
-    CurrentState = Startup;
-    
+    //-Initialize
+    //--Turning LEDs off
+        ledr = true;
+        ledg = true;
+        ledb = true;
+    //--Set baud
+        pc.baud(115200);    
+    //--Set first state
+        CurrentState = Startup;
+    //--Setup Buttons (Placeholder for testing)
     button1.mode(PullUp);
     button1.rise(Run_StateChangerButton1);
     button2.mode(PullUp);
     button2.rise(Run_StateChangerButton2);
     
-    //Tickers
+    //-Activate Tickers
         Main_Ticker.attach(mainloop,mainLoopT);
         wait(mainLoopT);
         Tick_Blinky.attach(FlipLED,ledFlipperT);
     
     //Placeholder function call
-    double PlantError = 1;
-    double Ts = 1;
-    double u = ControllerPID(PlantError, Ts);
+    //double PlantError = 1;
+    //double Ts = 1;
+    //double u = ControllerPID(1, 1);
+    //X = 1;
+    //double Y = ProcessEMG(X);
+     int x;
+     int a;
+     a = 3;
+     int b;
+     b = 8;
+     x = AddInt(a,b);
     
+    //-Constantly running function
     while(true)
     {
-        X = 1;
-        double Y = ProcessEMG(X);
+        
     }
 }
\ No newline at end of file