Diff: main.cpp

Revision:

0:d38d627c922f

Child:

2:89b78367d173

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 14 22:39:10 2014 +0000
@@ -0,0 +1,54 @@
+/**************************************
+
+This is the main file for the "RyanEXO" control software.
+This sets up the main control loop that operates at a 1kHz frequency
+and controls the flow of the rest of the software
+
+The configuration for the exo system that this software runs:
+amplifiers: 2 Copley Controls 10A digital amplifiers
+sensors: 2 Austria Microsystems 12 bit magnetic encoders, handled by encoders.h
+motors: 2 maxon EC90 DC brushless motors, handled by HipMotorControl.h (called in FSM.h)
+Knees: wrap spring clutch controlled by Firgelli PQ12P linear actuators, controlled in linearActuatorControl.h
+
+**************************************/
+#include "mbed.h"
+#include "initExoVars.h"
+#include "FSM.h"
+int dataIn[3];
+///////////////////////////////////////////////////////////////////////////
+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]);
+    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]);*/
+
+}
+
+int main()
+{
+    pc.printf("ExoStart \r\n");
+    initializeExoIOs();
+    pc.printf("Blah \r\n");
+    pc.printf("Here \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);
+    Ticker doControl;
+    dataBedSPI.format(8,1);
+    doControl.attach(&periodicFcns, SAMPLE_TIME);
+
+    while (1);
+}