Diff: main.cpp

Revision:

2:89b78367d173

Parent:

0:d38d627c922f

Child:

3:9719ad064a2c

--- a/main.cpp	Sat Nov 22 00:54:39 2014 +0000
+++ b/main.cpp	Mon Nov 24 03:35:08 2014 +0000
@@ -14,26 +14,18 @@
 #include "mbed.h"
 #include "initExoVars.h"
 #include "FSM.h"
-int dataIn[3];
+#include "dataBedComm.h"
+int dataIn[4];
+int dataOut[]={0xFF,30,31,0xFE};
 ///////////////////////////////////////////////////////////////////////////
 void periodicFcns()
 {
-    DB_cs=0;
-    dataIn[0]=dataBedSPI.write(7);
-    DB_cs=1;
-    wait_us(5);
-    DB_cs=0;
-    dataIn[1]=dataBedSPI.write(30);
-    DB_cs=1;
-    wait_us(5);
-    DB_cs=0;
-    dataIn[2]=dataBedSPI.write(22);
-    DB_cs=1;
-    //pc.printf("%d, %d, %d, ", dataIn[0], dataIn[1], dataIn[2]);
+    dataOut[1]=encoder_L.readRaw();
+    dataOut[2]=encoder_R.readRaw();
+    int* ptr=dataIn;
+    ptr=sendData(dataOut, 4, dataIn);
+    pc.printf("%d, %d, %d, ", dataIn[0], dataIn[1], dataIn[2], dataIn[3]);
     int exoState=fsm.state(dataIn[1]);
-    /*pc.printf("State: %u, ", exoState);
-    pc.printf("Angle: %f, ", translate_L(Read_Encoder())); 
-    pc.printf("Data: %u, %u, %u\r\n", dataIn[0], dataIn[1], dataIn[2]);*/
 
 }
 
@@ -41,8 +33,8 @@
 {
     pc.printf("ExoStart \r\n");
     initializeExoIOs();
-    pc.printf("Blah \r\n");
-    pc.printf("Here \r\n");
+    pc.printf("Blah\r\n");
+
     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);