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);