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:
52:9cd42eadea31
Parent:
51:b0a6dc4aece1
--- a/main.cpp	Wed Jul 01 00:05:09 2015 +0000
+++ b/main.cpp	Thu Jul 02 01:41:06 2015 +0000
@@ -15,10 +15,10 @@
 #include "FSM.h"
 #include "dataBedComm.h"
 #include "dataComm.h"
-short dataIn[7];
+short dataIn[13];
 /** DataOut: Indices 0,1,2,and 8 are reserved. 0 is start byte, 8 is end byte, 1 and 2 are error codes.
 Other indices can be used for read angles */
-short dataOut[]= {0xFF,30,31,0, 0, 0, 0, 0, 0xFE};
+short dataOut[]= {0xFF,30,31,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0xFE};
 dataComm dc = dataComm();
 Timer dbg;
 //
@@ -49,12 +49,12 @@
     //pc.printf("2:%f %d\r\n", f2, dataOut[4]);
     dataOut[2]=fsm.error();
     short* ptr=dataIn;
-    ptr=sendData(dataOut, 9, dataIn);
+    ptr=sendData(dataOut, 15, dataIn);
     /*if (dataIn[1] != 0) {
         pc.printf("UI: %d\r\n", dataIn[1]);
     }*/
     //Sends message received from the ctrlbed to the dataComm object
-    dc.process_write(dataIn+2, 7);
+    dc.process_write(dataIn+2, 13);
     //pc.printf("%d, %d, %d, %d,", dataIn[0], dataIn[1], dataIn[2], dataIn[3]);
 
     // Run state change/analysis in FSM