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

Diff: main.cpp

Revision:
15:3596b7ca1c20
Parent:
14:8929f5a9837c
Child:
16:e69f063a2068
--- a/main.cpp	Wed Mar 11 22:16:23 2015 +0000
+++ b/main.cpp	Thu Mar 12 20:59:08 2015 +0000
@@ -20,23 +20,33 @@
 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};
 
+union short_or_char {
+    char c[2];
+    short s;
+} short_or_char;
+
+//short_or_char soc;
+
+
 ///////////////////////////////////////////////////////////////////////////
 
 // periodicFcns runs at the start of every control loop cycle
 // It initiates communication with dataBed, checks for errors/safety, and starts the FSM
 void periodicFcns()
 {
+
     dataOut[1]=encoder_L.readRaw();
     dataOut[2]=fsm.error();
     int* ptr=(int*)dataIn;
     ptr=sendData((int*)dataOut, 21, (int*)dataIn);
-   // dc->process_write((char*)dataIn,21);
-    dc->process_write(dataIn, 21);   
+    //dc->process_write((char*)dataIn,21);
+
+   dc->process_write(dataIn, 21);   
 
     //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]);
+    //int exoState=fsm.state(dataIn[1]);
     
 }