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:
- perr1940
- Date:
- 2014-11-24
- Revision:
- 2:89b78367d173
- Parent:
- 0:d38d627c922f
- Child:
- 3:9719ad064a2c
File content as of revision 2:89b78367d173:
/************************************** 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" int dataIn[4]; int dataOut[]={0xFF,30,31,0xFE}; /////////////////////////////////////////////////////////////////////////// void periodicFcns() { 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]); } int main() { pc.printf("ExoStart \r\n"); initializeExoIOs(); 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); Ticker doControl; dataBedSPI.format(8,1); doControl.attach(&periodicFcns, SAMPLE_TIME); while (1); }