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
Diff: main.cpp
- Revision:
- 15:3596b7ca1c20
- Parent:
- 14:8929f5a9837c
- Child:
- 16:e69f063a2068
diff -r 8929f5a9837c -r 3596b7ca1c20 main.cpp --- a/main.cpp Wed Mar 11 22:16:23 2015 +0000 +++ b/main.cpp Thu Mar 12 20:59:08 2015 +0000 @@ -20,23 +20,33 @@ short int dataIn[32]; short int dataOut[]={0xFF,30,31,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0xFE}; +union short_or_char { + char c[2]; + short s; +} short_or_char; + +//short_or_char soc; + + /////////////////////////////////////////////////////////////////////////// // 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=(int*)dataIn; ptr=sendData((int*)dataOut, 21, (int*)dataIn); - // dc->process_write((char*)dataIn,21); - dc->process_write(dataIn, 21); + //dc->process_write((char*)dataIn,21); + + dc->process_write(dataIn, 21); //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 exoState=fsm.state(dataIn[1]); }