Diff: main.cpp

Revision:

18:03d7c5fdc0c7

Parent:

17:b77c31807825

Child:

19:70b2124c7370

--- a/main.cpp	Tue Mar 17 21:16:43 2015 +0000
+++ b/main.cpp	Fri Mar 20 20:27:08 2015 +0000
@@ -15,19 +15,10 @@
 #include "FSM.h"
 #include "dataBedComm.h"
 #include "dataComm.h"
-
-dataComm *dc = new dataComm();
-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};
-bool flag=0;
-
-/*union short_or_char {
-    char c[2];
-    short s;
-} short_or_char;*/
-
-//short_or_char soc;
-
+short dataIn[7];
+short dataOut[]={0xFF,30,31,0, 0, 0, 0xFE};
+dataComm dc = dataComm();
+Timer dbg;
 
 ///////////////////////////////////////////////////////////////////////////
 
@@ -35,49 +26,43 @@
 // It initiates communication with dataBed, checks for errors/safety, and starts the FSM
 void periodicFcns()
 {
-    //pc.printf("Blah\r\n");
+    dbg.reset();
+    //float temp1 = dbg.read_us();
+   
+    //dbg.start();
     dataOut[1]=encoder_L.readRaw();
-    dataOut[2]=fsm.error();
-    int* ptr=(int*)dataIn;
-    ptr=sendData((int*)dataOut, 21, (int*)dataIn);
-    flag=1;
-    /*for (int i=0;i<21;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]);
-    }*/
-    //pc.printf("\r\n");
-    //dc->process_write((char*)dataIn,42);
-
-    //dc->process_write(dataIn, 21);
-
+    }
+    pc.printf("\r\n");*/
+    dc.process_write(dataIn, 7);
     //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]);
-
+    float temp=dbg.read_us();
+    pc.printf("%f\r\n",temp);
+    
 }
 
 int main()
 {
     pc.printf("\r\nExoStart \r\n");
     initializeExoIOs();
-    pc.printf("Test\r\n"); // keep for debugging compile errors
+    //pc.printf("Test\r\n"); // keep for debugging compile errors
 
     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();
     Ticker doControl;
     dataBedSPI.format(16,0);
     doControl.attach(&periodicFcns, SAMPLE_TIME);
 
-    while (1) {
-        //pc.printf("!");
-        if(flag==1) {
-            flag=0;
-            for (int i=0; i<21; i++) {
-                pc.printf("%x, ", dataIn[i]);
-            }
-        }
-    };
+    while (1);
 }