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:
- 20:cf8e99d989a6
- Parent:
- 19:70b2124c7370
- Child:
- 21:715c8cf78e14
diff -r 70b2124c7370 -r cf8e99d989a6 main.cpp --- a/main.cpp Fri Mar 20 23:09:02 2015 +0000 +++ b/main.cpp Mon Apr 13 17:44:21 2015 +0000 @@ -27,14 +27,24 @@ void periodicFcns() { dbg.reset(); - //float temp1 = dbg.read_us(); - - //dbg.start(); - dataOut[1]=encoder_L.readRaw(); +// dataOut[1]=encoder_L.readRaw(); + float f1 = encoder_L.read_angle(); + float f2 = fsm.read_angle_y(); + dataOut[1] = (short)f1; + dataOut[2] = (short)f1; + dataOut[3] = (short)f1; + dataOut[4] = (short)f2; + dataOut[5] = (short)f2; + //pc.printf("%f\r\n", f1); + pc.printf("%d\r\n", (short)f1); + //pc.printf("%f\r\n", f2); + pc.printf("%d\r\n", (short)f2); + //for (int i = 2; i < 4; i++) { + // pc.printf("data%d is %x\r\n", i, dataOut[i]); + //} //dataOut[2]=fsm.error(); short* ptr=dataIn; ptr=sendData(dataOut, 7, dataIn); - //dbg.reset(); /*for (int i = 0; i < 7; i++) { pc.printf("%x, ", dataIn[i]); } @@ -45,18 +55,18 @@ // Run state change/analysis in FSM int exoState=fsm.state(dataIn[1]); float temp=dbg.read_us(); - //pc.printf("%f\r\n",temp); + pc.printf("%f\r\n",temp); } +//Starts the Exo controlbed, and processes messages by repeatedly executing periodicFcns int main() { pc.printf("\r\nExoStart \r\n"); initializeExoIOs(); //pc.printf("Test\r\n"); // keep for debugging compile errors - + mbedLED1 = 1; 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); dbg.start();