Nathaniel Honka / Mbed 2 deprecated Motion-Control

Corrected header file include guards.

Dependencies:   FiniteStateMachine HipControl Knee LinearBlend1 LocalFileSystem_Read dataComm hapticFeedback initExoVars mbed Blend_Generator Brad_poly_gait Gait_Generator MM_gait Encoders IMUdriver

Fork of Motion Control by HEL's Angels

main.cpp@5:498c9bfc56f0, 2015-02-25 (annotated)

Committer:
cashdollar
Date:
Wed Feb 25 19:23:41 2015 +0000
Revision:
5:498c9bfc56f0
Parent:
3:9719ad064a2c
Child:
6:ff3677c61389
Added safety checks. Safety checks include: 1. both encoders: range, parity, flag 2.both knees: status 3. IMU whoamI. Safety is checked every control cycle and send to dataBed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
perr1940 0:d38d627c922f 1 /**************************************
perr1940 0:d38d627c922f 2 This is the main file for the "RyanEXO" control software.
perr1940 0:d38d627c922f 3 This sets up the main control loop that operates at a 1kHz frequency
perr1940 0:d38d627c922f 4 and controls the flow of the rest of the software
perr1940 0:d38d627c922f 5
perr1940 0:d38d627c922f 6 The configuration for the exo system that this software runs:
perr1940 0:d38d627c922f 7 amplifiers: 2 Copley Controls 10A digital amplifiers
perr1940 0:d38d627c922f 8 sensors: 2 Austria Microsystems 12 bit magnetic encoders, handled by encoders.h
perr1940 0:d38d627c922f 9 motors: 2 maxon EC90 DC brushless motors, handled by HipMotorControl.h (called in FSM.h)
perr1940 0:d38d627c922f 10 Knees: wrap spring clutch controlled by Firgelli PQ12P linear actuators, controlled in linearActuatorControl.h
cashdollar 3:9719ad064a2c 11 **************************************/
perr1940 0:d38d627c922f 12
perr1940 0:d38d627c922f 13 #include "mbed.h"
perr1940 0:d38d627c922f 14 #include "initExoVars.h"
perr1940 0:d38d627c922f 15 #include "FSM.h"
perr1940 2:89b78367d173 16 #include "dataBedComm.h"
perr1940 2:89b78367d173 17 int dataIn[4];
perr1940 2:89b78367d173 18 int dataOut[]={0xFF,30,31,0xFE};
cashdollar 3:9719ad064a2c 19
perr1940 0:d38d627c922f 20 ///////////////////////////////////////////////////////////////////////////
cashdollar 3:9719ad064a2c 21
cashdollar 3:9719ad064a2c 22 // periodicFcns runs at the start of every control loop cycle
cashdollar 3:9719ad064a2c 23 // It initiates communication with dataBed, checks for errors/safety, and starts the FSM
perr1940 0:d38d627c922f 24 void periodicFcns()
perr1940 0:d38d627c922f 25 {
perr1940 2:89b78367d173 26 dataOut[1]=encoder_L.readRaw();
cashdollar 5:498c9bfc56f0 27 dataOut[2]=fsm.error();
perr1940 2:89b78367d173 28 int* ptr=dataIn;
perr1940 2:89b78367d173 29 ptr=sendData(dataOut, 4, dataIn);
cashdollar 5:498c9bfc56f0 30
cashdollar 3:9719ad064a2c 31
cashdollar 5:498c9bfc56f0 32 pc.printf("%d, %d, %d, %d,", dataIn[0], dataIn[1], dataIn[2], dataIn[3]);
cashdollar 3:9719ad064a2c 33
cashdollar 3:9719ad064a2c 34 // Run state change/analysis in FSM
perr1940 0:d38d627c922f 35 int exoState=fsm.state(dataIn[1]);
cashdollar 3:9719ad064a2c 36
perr1940 0:d38d627c922f 37 }
perr1940 0:d38d627c922f 38
perr1940 0:d38d627c922f 39 int main()
perr1940 0:d38d627c922f 40 {
cashdollar 5:498c9bfc56f0 41 pc.printf("\r\nExoStart \r\n");
perr1940 0:d38d627c922f 42 initializeExoIOs();
cashdollar 5:498c9bfc56f0 43 pc.printf("Test\r\n"); // keep for debugging compile errors
perr1940 2:89b78367d173 44
perr1940 0:d38d627c922f 45 pc.printf("Starting exo...\n\r");
cashdollar 5:498c9bfc56f0 46
perr1940 0:d38d627c922f 47 //If desired, a startup sound can be played. This function is defined in the DatabedCode, because it will command a sound to be played once it detects a heartbeat from ControlBed
perr1940 0:d38d627c922f 48 wait(2);
cashdollar 5:498c9bfc56f0 49
perr1940 0:d38d627c922f 50 Ticker doControl;
perr1940 0:d38d627c922f 51 dataBedSPI.format(8,1);
perr1940 0:d38d627c922f 52 doControl.attach(&periodicFcns, SAMPLE_TIME);
perr1940 0:d38d627c922f 53
perr1940 0:d38d627c922f 54 while (1);
perr1940 0:d38d627c922f 55 }