File content as of revision 7:d44555be84b7:

/**************************************
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};

///////////////////////////////////////////////////////////////////////////

// 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()
{
    dataOut[1]=encoder_L.readRaw();
    dataOut[2]=fsm.error();
    int* ptr=dataIn;
    ptr=sendData(dataOut, 4, dataIn);
       

    //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]);
    
}

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);

    Ticker doControl;
    dataBedSPI.format(16,1);
    doControl.attach(&periodicFcns, SAMPLE_TIME);

    while (1);
}