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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 
HEL's Angels
Revision 52:9cd42eadea31, committed 2015-07-02
- Comitter:
- perr1940
- Date:
- Thu Jul 02 01:41:06 2015 +0000
- Parent:
- 51:b0a6dc4aece1
- Child:
- 53:c631ea11447b
- Commit message:
- changed dataBed length.
Changed in this revision
--- a/FiniteStateMachine.lib Wed Jul 01 00:05:09 2015 +0000 +++ b/FiniteStateMachine.lib Thu Jul 02 01:41:06 2015 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/HELs-Angels/code/FiniteStateMachine/#a2d1a97eb332 +https://developer.mbed.org/teams/HELs-Angels/code/FiniteStateMachine/#07197a931319
--- a/dataComm.lib Wed Jul 01 00:05:09 2015 +0000 +++ b/dataComm.lib Thu Jul 02 01:41:06 2015 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/HELs-Angels/code/dataComm/#00c00b14b874 +https://developer.mbed.org/teams/HELs-Angels/code/dataComm/#ab0ab542d816
--- 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