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:
- 5:498c9bfc56f0
- Parent:
- 3:9719ad064a2c
- Child:
- 6:ff3677c61389
--- a/main.cpp Fri Feb 13 23:02:24 2015 +0000 +++ b/main.cpp Wed Feb 25 19:23:41 2015 +0000 @@ -24,29 +24,29 @@ void periodicFcns() { dataOut[1]=encoder_L.readRaw(); - dataOut[2]=encoder_R.readRaw(); + dataOut[2]=fsm.error(); int* ptr=dataIn; ptr=sendData(dataOut, 4, dataIn); - // why only 3 of the %d? - pc.printf("%d, %d, %d, %d, ", dataIn[0], dataIn[1], dataIn[2], dataIn[3]); - + + 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 main() { - pc.printf("ExoStart \r\n"); + pc.printf("\r\nExoStart \r\n"); initializeExoIOs(); - // pc.printf("Blah\r\n"); + 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); + Ticker doControl; dataBedSPI.format(8,1); doControl.attach(&periodicFcns, SAMPLE_TIME);