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
main.cpp
- Committer:
- mzling
- Date:
- 2015-03-20
- Revision:
- 18:03d7c5fdc0c7
- Parent:
- 17:b77c31807825
- Child:
- 19:70b2124c7370
File content as of revision 18:03d7c5fdc0c7:
/************************************** 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" #include "dataBedComm.h" #include "dataComm.h" short dataIn[7]; short dataOut[]={0xFF,30,31,0, 0, 0, 0xFE}; dataComm dc = dataComm(); Timer dbg; /////////////////////////////////////////////////////////////////////////// // periodicFcns runs at the start of every control loop cycle // It initiates communication with dataBed, checks for errors/safety, and starts the FSM void periodicFcns() { dbg.reset(); //float temp1 = dbg.read_us(); //dbg.start(); dataOut[1]=encoder_L.readRaw(); //dataOut[2]=fsm.error(); short* ptr=dataIn; ptr=sendData(dataOut, 7, dataIn); //dbg.reset(); /*for (int i = 0; i < 7; i++) { pc.printf("%x, ", dataIn[i]); } pc.printf("\r\n");*/ dc.process_write(dataIn, 7); //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]); float temp=dbg.read_us(); pc.printf("%f\r\n",temp); } int main() { pc.printf("\r\nExoStart \r\n"); initializeExoIOs(); //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); dbg.start(); Ticker doControl; dataBedSPI.format(16,0); doControl.attach(&periodicFcns, SAMPLE_TIME); while (1); }