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@14:8929f5a9837c, 2015-03-11 (annotated)

Committer:
mzling
Date:
Wed Mar 11 22:16:23 2015 +0000
Revision:
14:8929f5a9837c
Parent:
13:c588cb388240
Child:
15:3596b7ca1c20
Added conversion function

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"
mzling 13:c588cb388240 17 #include "dataComm.h"
mzling 13:c588cb388240 18
mzling 13:c588cb388240 19 dataComm *dc = new dataComm();
mzling 13:c588cb388240 20 short int dataIn[32];
mzling 13:c588cb388240 21 short int dataOut[]={0xFF,30,31,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0xFE};
cashdollar 3:9719ad064a2c 22
perr1940 0:d38d627c922f 23 ///////////////////////////////////////////////////////////////////////////
cashdollar 3:9719ad064a2c 24
cashdollar 3:9719ad064a2c 25 // periodicFcns runs at the start of every control loop cycle
cashdollar 3:9719ad064a2c 26 // It initiates communication with dataBed, checks for errors/safety, and starts the FSM
perr1940 0:d38d627c922f 27 void periodicFcns()
perr1940 0:d38d627c922f 28 {
perr1940 2:89b78367d173 29 dataOut[1]=encoder_L.readRaw();
cashdollar 5:498c9bfc56f0 30 dataOut[2]=fsm.error();
mzling 13:c588cb388240 31 int* ptr=(int*)dataIn;
mzling 14:8929f5a9837c 32 ptr=sendData((int*)dataOut, 21, (int*)dataIn);
mzling 14:8929f5a9837c 33 // dc->process_write((char*)dataIn,21);
mzling 14:8929f5a9837c 34 dc->process_write(dataIn, 21);
cashdollar 3:9719ad064a2c 35
perr1940 7:d44555be84b7 36 //pc.printf("%d, %d, %d, %d,", dataIn[0], dataIn[1], dataIn[2], dataIn[3]);
cashdollar 3:9719ad064a2c 37
cashdollar 3:9719ad064a2c 38 // Run state change/analysis in FSM
perr1940 0:d38d627c922f 39 int exoState=fsm.state(dataIn[1]);
cashdollar 3:9719ad064a2c 40
perr1940 0:d38d627c922f 41 }
perr1940 0:d38d627c922f 42
perr1940 0:d38d627c922f 43 int main()
perr1940 0:d38d627c922f 44 {
cashdollar 5:498c9bfc56f0 45 pc.printf("\r\nExoStart \r\n");
perr1940 0:d38d627c922f 46 initializeExoIOs();
cashdollar 5:498c9bfc56f0 47 pc.printf("Test\r\n"); // keep for debugging compile errors
perr1940 2:89b78367d173 48
perr1940 0:d38d627c922f 49 pc.printf("Starting exo...\n\r");
cashdollar 5:498c9bfc56f0 50
perr1940 0:d38d627c922f 51 //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 52 wait(2);
cashdollar 5:498c9bfc56f0 53
perr1940 0:d38d627c922f 54 Ticker doControl;
mzling 14:8929f5a9837c 55 dataBedSPI.format(16,0);
perr1940 0:d38d627c922f 56 doControl.attach(&periodicFcns, SAMPLE_TIME);
perr1940 0:d38d627c922f 57
perr1940 0:d38d627c922f 58 while (1);
perr1940 0:d38d627c922f 59 }