File content as of revision 0:d38d627c922f:

/**************************************

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);
}