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

dataBedComm/dataBedComm.cpp@0:d38d627c922f, 2014-11-14 (annotated)

Committer:
perr1940
Date:
Fri Nov 14 22:39:10 2014 +0000
Revision:
0:d38d627c922f
Child:
2:89b78367d173
this is without encoders going to test the knee steppers alone.  They work alone but not with the encoders.  Strange huh?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
perr1940 0:d38d627c922f 1 #include "mbed.h"
perr1940 0:d38d627c922f 2 #include "initExoVars.h"
perr1940 0:d38d627c922f 3 #include "Encoder.h"
perr1940 0:d38d627c922f 4 #include "FSM.h"
perr1940 0:d38d627c922f 5
perr1940 0:d38d627c922f 6 // Dataduino comm
perr1940 0:d38d627c922f 7 uint8_t uiCmdIn = 0; // flag if something new comes in from UI
perr1940 0:d38d627c922f 8 uint8_t uiCmd = 0; // new cmd that came in from UI
perr1940 0:d38d627c922f 9
perr1940 0:d38d627c922f 10 // UI commands
perr1940 0:d38d627c922f 11 int goToBent = 19;
perr1940 0:d38d627c922f 12 int goToSitup = 20;
perr1940 0:d38d627c922f 13 int goToSit = 21;
perr1940 0:d38d627c922f 14 int goToStand = 22;
perr1940 0:d38d627c922f 15 int takeStep = 40;
perr1940 0:d38d627c922f 16 int nowStop = 41;
perr1940 0:d38d627c922f 17 int buzz4x = 51;
perr1940 0:d38d627c922f 18 int buzz3x = 52;
perr1940 0:d38d627c922f 19 int buzz5x = 53;
perr1940 0:d38d627c922f 20 int buzz6x = 54;
perr1940 0:d38d627c922f 21 int buzz7x = 55; //If you add more commands, make sure to add them to dataBedComm.h
perr1940 0:d38d627c922f 22 int buzz8x = 57; //Low Battery Buzz 56
perr1940 0:d38d627c922f 23
perr1940 0:d38d627c922f 24 ////////////////////////////////////////////////////////
perr1940 0:d38d627c922f 25 // Databed comm stuff
perr1940 0:d38d627c922f 26 ////////////////////////////////////////////////////////
perr1940 0:d38d627c922f 27
perr1940 0:d38d627c922f 28 int sendData(int dataOut) {
perr1940 0:d38d627c922f 29 DB_cs=0;
perr1940 0:d38d627c922f 30 int dataIn=dataBedSPI.write(dataOut);
perr1940 0:d38d627c922f 31 DB_cs=1;
perr1940 0:d38d627c922f 32 return(dataIn);
perr1940 0:d38d627c922f 33 }
perr1940 0:d38d627c922f 34 int c=0;
perr1940 0:d38d627c922f 35 int stepscommanded=0;
perr1940 0:d38d627c922f 36 int stepcount=0;