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:
13:c588cb388240
Parent:
7:d44555be84b7
Child:
14:8929f5a9837c
--- a/main.cpp	Tue Mar 03 22:23:50 2015 +0000
+++ b/main.cpp	Thu Mar 05 23:53:06 2015 +0000
@@ -14,8 +14,11 @@
 #include "initExoVars.h"
 #include "FSM.h"
 #include "dataBedComm.h"
-int dataIn[4];
-int dataOut[]={0xFF,30,31,0xFE};
+#include "dataComm.h"
+
+dataComm *dc = new dataComm();
+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};
 
 ///////////////////////////////////////////////////////////////////////////
 
@@ -25,9 +28,9 @@
 {
     dataOut[1]=encoder_L.readRaw();
     dataOut[2]=fsm.error();
-    int* ptr=dataIn;
-    ptr=sendData(dataOut, 4, dataIn);
-       
+    int* ptr=(int*)dataIn;
+    ptr=sendData((int*)dataOut, 20, (int*)dataIn);
+    dc->process_write((char*)dataIn, 20);   
 
     //pc.printf("%d, %d, %d, %d,", dataIn[0], dataIn[1], dataIn[2], dataIn[3]);