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
Diff: main.cpp
- Revision:
- 18:03d7c5fdc0c7
- Parent:
- 17:b77c31807825
- Child:
- 19:70b2124c7370
--- a/main.cpp Tue Mar 17 21:16:43 2015 +0000 +++ b/main.cpp Fri Mar 20 20:27:08 2015 +0000 @@ -15,19 +15,10 @@ #include "FSM.h" #include "dataBedComm.h" #include "dataComm.h" - -dataComm *dc = new dataComm(); -short int dataIn[32]; -short int dataOut[]= {0xFF,30,31,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0xFE}; -bool flag=0; - -/*union short_or_char { - char c[2]; - short s; -} short_or_char;*/ - -//short_or_char soc; - +short dataIn[7]; +short dataOut[]={0xFF,30,31,0, 0, 0, 0xFE}; +dataComm dc = dataComm(); +Timer dbg; /////////////////////////////////////////////////////////////////////////// @@ -35,49 +26,43 @@ // It initiates communication with dataBed, checks for errors/safety, and starts the FSM void periodicFcns() { - //pc.printf("Blah\r\n"); + dbg.reset(); + //float temp1 = dbg.read_us(); + + //dbg.start(); dataOut[1]=encoder_L.readRaw(); - dataOut[2]=fsm.error(); - int* ptr=(int*)dataIn; - ptr=sendData((int*)dataOut, 21, (int*)dataIn); - flag=1; - /*for (int i=0;i<21;i++) { + //dataOut[2]=fsm.error(); + short* ptr=dataIn; + ptr=sendData(dataOut, 7, dataIn); + //dbg.reset(); + /*for (int i = 0; i < 7; i++) { pc.printf("%x, ", dataIn[i]); - }*/ - //pc.printf("\r\n"); - //dc->process_write((char*)dataIn,42); - - //dc->process_write(dataIn, 21); - + } + pc.printf("\r\n");*/ + dc.process_write(dataIn, 7); //pc.printf("%d, %d, %d, %d,", dataIn[0], dataIn[1], dataIn[2], dataIn[3]); - + // Run state change/analysis in FSM int exoState=fsm.state(dataIn[1]); - + float temp=dbg.read_us(); + pc.printf("%f\r\n",temp); + } int main() { pc.printf("\r\nExoStart \r\n"); initializeExoIOs(); - pc.printf("Test\r\n"); // keep for debugging compile errors + //pc.printf("Test\r\n"); // keep for debugging compile errors pc.printf("Starting exo...\n\r"); //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 wait(2); - + dbg.start(); Ticker doControl; dataBedSPI.format(16,0); doControl.attach(&periodicFcns, SAMPLE_TIME); - while (1) { - //pc.printf("!"); - if(flag==1) { - flag=0; - for (int i=0; i<21; i++) { - pc.printf("%x, ", dataIn[i]); - } - } - }; + while (1); }