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@15:3596b7ca1c20, 2015-03-12 (annotated)
- Committer:
- mzling
- Date:
- Thu Mar 12 20:59:08 2015 +0000
- Revision:
- 15:3596b7ca1c20
- Parent:
- 14:8929f5a9837c
- Child:
- 16:e69f063a2068
Printing dataIn
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
perr1940 | 0:d38d627c922f | 1 | /************************************** |
perr1940 | 0:d38d627c922f | 2 | This is the main file for the "RyanEXO" control software. |
perr1940 | 0:d38d627c922f | 3 | This sets up the main control loop that operates at a 1kHz frequency |
perr1940 | 0:d38d627c922f | 4 | and controls the flow of the rest of the software |
perr1940 | 0:d38d627c922f | 5 | |
perr1940 | 0:d38d627c922f | 6 | The configuration for the exo system that this software runs: |
perr1940 | 0:d38d627c922f | 7 | amplifiers: 2 Copley Controls 10A digital amplifiers |
perr1940 | 0:d38d627c922f | 8 | sensors: 2 Austria Microsystems 12 bit magnetic encoders, handled by encoders.h |
perr1940 | 0:d38d627c922f | 9 | motors: 2 maxon EC90 DC brushless motors, handled by HipMotorControl.h (called in FSM.h) |
perr1940 | 0:d38d627c922f | 10 | Knees: wrap spring clutch controlled by Firgelli PQ12P linear actuators, controlled in linearActuatorControl.h |
cashdollar | 3:9719ad064a2c | 11 | **************************************/ |
perr1940 | 0:d38d627c922f | 12 | |
perr1940 | 0:d38d627c922f | 13 | #include "mbed.h" |
perr1940 | 0:d38d627c922f | 14 | #include "initExoVars.h" |
perr1940 | 0:d38d627c922f | 15 | #include "FSM.h" |
perr1940 | 2:89b78367d173 | 16 | #include "dataBedComm.h" |
mzling | 13:c588cb388240 | 17 | #include "dataComm.h" |
mzling | 13:c588cb388240 | 18 | |
mzling | 13:c588cb388240 | 19 | dataComm *dc = new dataComm(); |
mzling | 13:c588cb388240 | 20 | short int dataIn[32]; |
mzling | 13:c588cb388240 | 21 | short int dataOut[]={0xFF,30,31,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0xFE}; |
cashdollar | 3:9719ad064a2c | 22 | |
mzling | 15:3596b7ca1c20 | 23 | union short_or_char { |
mzling | 15:3596b7ca1c20 | 24 | char c[2]; |
mzling | 15:3596b7ca1c20 | 25 | short s; |
mzling | 15:3596b7ca1c20 | 26 | } short_or_char; |
mzling | 15:3596b7ca1c20 | 27 | |
mzling | 15:3596b7ca1c20 | 28 | //short_or_char soc; |
mzling | 15:3596b7ca1c20 | 29 | |
mzling | 15:3596b7ca1c20 | 30 | |
perr1940 | 0:d38d627c922f | 31 | /////////////////////////////////////////////////////////////////////////// |
cashdollar | 3:9719ad064a2c | 32 | |
cashdollar | 3:9719ad064a2c | 33 | // periodicFcns runs at the start of every control loop cycle |
cashdollar | 3:9719ad064a2c | 34 | // It initiates communication with dataBed, checks for errors/safety, and starts the FSM |
perr1940 | 0:d38d627c922f | 35 | void periodicFcns() |
perr1940 | 0:d38d627c922f | 36 | { |
mzling | 15:3596b7ca1c20 | 37 | |
perr1940 | 2:89b78367d173 | 38 | dataOut[1]=encoder_L.readRaw(); |
cashdollar | 5:498c9bfc56f0 | 39 | dataOut[2]=fsm.error(); |
mzling | 13:c588cb388240 | 40 | int* ptr=(int*)dataIn; |
mzling | 14:8929f5a9837c | 41 | ptr=sendData((int*)dataOut, 21, (int*)dataIn); |
mzling | 15:3596b7ca1c20 | 42 | //dc->process_write((char*)dataIn,21); |
mzling | 15:3596b7ca1c20 | 43 | |
mzling | 15:3596b7ca1c20 | 44 | dc->process_write(dataIn, 21); |
cashdollar | 3:9719ad064a2c | 45 | |
perr1940 | 7:d44555be84b7 | 46 | //pc.printf("%d, %d, %d, %d,", dataIn[0], dataIn[1], dataIn[2], dataIn[3]); |
cashdollar | 3:9719ad064a2c | 47 | |
cashdollar | 3:9719ad064a2c | 48 | // Run state change/analysis in FSM |
mzling | 15:3596b7ca1c20 | 49 | //int exoState=fsm.state(dataIn[1]); |
cashdollar | 3:9719ad064a2c | 50 | |
perr1940 | 0:d38d627c922f | 51 | } |
perr1940 | 0:d38d627c922f | 52 | |
perr1940 | 0:d38d627c922f | 53 | int main() |
perr1940 | 0:d38d627c922f | 54 | { |
cashdollar | 5:498c9bfc56f0 | 55 | pc.printf("\r\nExoStart \r\n"); |
perr1940 | 0:d38d627c922f | 56 | initializeExoIOs(); |
cashdollar | 5:498c9bfc56f0 | 57 | pc.printf("Test\r\n"); // keep for debugging compile errors |
perr1940 | 2:89b78367d173 | 58 | |
perr1940 | 0:d38d627c922f | 59 | pc.printf("Starting exo...\n\r"); |
cashdollar | 5:498c9bfc56f0 | 60 | |
perr1940 | 0:d38d627c922f | 61 | //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 |
perr1940 | 0:d38d627c922f | 62 | wait(2); |
cashdollar | 5:498c9bfc56f0 | 63 | |
perr1940 | 0:d38d627c922f | 64 | Ticker doControl; |
mzling | 14:8929f5a9837c | 65 | dataBedSPI.format(16,0); |
perr1940 | 0:d38d627c922f | 66 | doControl.attach(&periodicFcns, SAMPLE_TIME); |
perr1940 | 0:d38d627c922f | 67 | |
perr1940 | 0:d38d627c922f | 68 | while (1); |
perr1940 | 0:d38d627c922f | 69 | } |