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:
- 52:9cd42eadea31
- Parent:
- 51:b0a6dc4aece1
diff -r b0a6dc4aece1 -r 9cd42eadea31 main.cpp --- a/main.cpp Wed Jul 01 00:05:09 2015 +0000 +++ b/main.cpp Thu Jul 02 01:41:06 2015 +0000 @@ -15,10 +15,10 @@ #include "FSM.h" #include "dataBedComm.h" #include "dataComm.h" -short dataIn[7]; +short dataIn[13]; /** DataOut: Indices 0,1,2,and 8 are reserved. 0 is start byte, 8 is end byte, 1 and 2 are error codes. Other indices can be used for read angles */ -short dataOut[]= {0xFF,30,31,0, 0, 0, 0, 0, 0xFE}; +short dataOut[]= {0xFF,30,31,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0xFE}; dataComm dc = dataComm(); Timer dbg; // @@ -49,12 +49,12 @@ //pc.printf("2:%f %d\r\n", f2, dataOut[4]); dataOut[2]=fsm.error(); short* ptr=dataIn; - ptr=sendData(dataOut, 9, dataIn); + ptr=sendData(dataOut, 15, dataIn); /*if (dataIn[1] != 0) { pc.printf("UI: %d\r\n", dataIn[1]); }*/ //Sends message received from the ctrlbed to the dataComm object - dc.process_write(dataIn+2, 7); + dc.process_write(dataIn+2, 13); //pc.printf("%d, %d, %d, %d,", dataIn[0], dataIn[1], dataIn[2], dataIn[3]); // Run state change/analysis in FSM