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:
- 3:9719ad064a2c
- Parent:
- 2:89b78367d173
- Child:
- 5:498c9bfc56f0
diff -r 89b78367d173 -r 9719ad064a2c main.cpp --- a/main.cpp Mon Nov 24 03:35:08 2014 +0000 +++ b/main.cpp Fri Feb 13 23:00:57 2015 +0000 @@ -1,5 +1,4 @@ /************************************** - 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 @@ -9,23 +8,33 @@ 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]=encoder_R.readRaw(); int* ptr=dataIn; ptr=sendData(dataOut, 4, dataIn); - pc.printf("%d, %d, %d, ", dataIn[0], dataIn[1], dataIn[2], dataIn[3]); + // why only 3 of the %d? + 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]); + } @@ -33,7 +42,7 @@ { pc.printf("ExoStart \r\n"); initializeExoIOs(); - pc.printf("Blah\r\n"); + // 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