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@2:89b78367d173, 2014-11-24 (annotated)

Committer:
perr1940
Date:
Mon Nov 24 03:35:08 2014 +0000
Revision:
2:89b78367d173
Parent:
0:d38d627c922f
Child:
3:9719ad064a2c
Exobed Code.... Going to Italy!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
perr1940 0:d38d627c922f 1 /**************************************
perr1940 0:d38d627c922f 2
perr1940 0:d38d627c922f 3 This is the main file for the "RyanEXO" control software.
perr1940 0:d38d627c922f 4 This sets up the main control loop that operates at a 1kHz frequency
perr1940 0:d38d627c922f 5 and controls the flow of the rest of the software
perr1940 0:d38d627c922f 6
perr1940 0:d38d627c922f 7 The configuration for the exo system that this software runs:
perr1940 0:d38d627c922f 8 amplifiers: 2 Copley Controls 10A digital amplifiers
perr1940 0:d38d627c922f 9 sensors: 2 Austria Microsystems 12 bit magnetic encoders, handled by encoders.h
perr1940 0:d38d627c922f 10 motors: 2 maxon EC90 DC brushless motors, handled by HipMotorControl.h (called in FSM.h)
perr1940 0:d38d627c922f 11 Knees: wrap spring clutch controlled by Firgelli PQ12P linear actuators, controlled in linearActuatorControl.h
perr1940 0:d38d627c922f 12
perr1940 0:d38d627c922f 13 **************************************/
perr1940 0:d38d627c922f 14 #include "mbed.h"
perr1940 0:d38d627c922f 15 #include "initExoVars.h"
perr1940 0:d38d627c922f 16 #include "FSM.h"
perr1940 2:89b78367d173 17 #include "dataBedComm.h"
perr1940 2:89b78367d173 18 int dataIn[4];
perr1940 2:89b78367d173 19 int dataOut[]={0xFF,30,31,0xFE};
perr1940 0:d38d627c922f 20 ///////////////////////////////////////////////////////////////////////////
perr1940 0:d38d627c922f 21 void periodicFcns()
perr1940 0:d38d627c922f 22 {
perr1940 2:89b78367d173 23 dataOut[1]=encoder_L.readRaw();
perr1940 2:89b78367d173 24 dataOut[2]=encoder_R.readRaw();
perr1940 2:89b78367d173 25 int* ptr=dataIn;
perr1940 2:89b78367d173 26 ptr=sendData(dataOut, 4, dataIn);
perr1940 2:89b78367d173 27 pc.printf("%d, %d, %d, ", dataIn[0], dataIn[1], dataIn[2], dataIn[3]);
perr1940 0:d38d627c922f 28 int exoState=fsm.state(dataIn[1]);
perr1940 0:d38d627c922f 29
perr1940 0:d38d627c922f 30 }
perr1940 0:d38d627c922f 31
perr1940 0:d38d627c922f 32 int main()
perr1940 0:d38d627c922f 33 {
perr1940 0:d38d627c922f 34 pc.printf("ExoStart \r\n");
perr1940 0:d38d627c922f 35 initializeExoIOs();
perr1940 2:89b78367d173 36 pc.printf("Blah\r\n");
perr1940 2:89b78367d173 37
perr1940 0:d38d627c922f 38 pc.printf("Starting exo...\n\r");
perr1940 0:d38d627c922f 39 //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 40 wait(2);
perr1940 0:d38d627c922f 41 Ticker doControl;
perr1940 0:d38d627c922f 42 dataBedSPI.format(8,1);
perr1940 0:d38d627c922f 43 doControl.attach(&periodicFcns, SAMPLE_TIME);
perr1940 0:d38d627c922f 44
perr1940 0:d38d627c922f 45 while (1);
perr1940 0:d38d627c922f 46 }