void loop(){
// Send state
int l = leftMotor->getNewTicks();
int r = rightMotor->getNewTicks();
sendState(l, r);
updateMotors();
delay(DELTA_TIME);
}
/*
motor1 : LT
motor2 : LB
motor3 : RT
motor4 : RB
motor5 : BACK
motor6 : BACK
*/
int main() {
OSCclass *c=new OSCclass;
OSCmsg *recv;
uint8_t channel = 7;
// Set the Channel. 0 is the default, 15 is max
//mrf.SetChannel(channel);
char add[5];
char *command;
pc.printf("Start----- Haptic Vest!\r\n");
while(1) {
rxLen = rf_receive(rxBuffer, 128);
// pc.printf("RxLen %d", rxLen);
if(rxLen > 0) {
recv= c->getOSCmsg(rxBuffer);
printf("Address is %s with type %c and msg %c \r\n",recv->getAddr(),recv->getType(),recv->getArgs());
strncpy(add,recv->getAddr(),5);
if(add[1] == 'B'){
motorStatus = find_status(add);
pc.printf("motor status: %d\r\n", motorStatus);
motor6 = motorStatus%10;//BACK
//motor5 = motor6;
motor4 = (motorStatus / 10) % 10;//RB
motor3 = (motorStatus / 100) % 10;//RT
//solenoid2=motor3;
motor2 = (motorStatus / 1000) % 10;//LB
motor1 = (motorStatus / 10000) % 10;//LT
//solenoid1=motor1;
//printf("%d %d %d %d %d %d \r\n",motor1,motor2,motor3,motor4,motor5,motor6);
updateMotors();
}
}
}
}
// Program begins here
int main() {
CyGlobalIntEnable; /* Enable global interrupts. */
hardware_init();
for(;;){
handleFrames(); //deal with any relevant incoming frames
updateMotors();
read_current_and_encoder(); //read the adc values and the quadrature encoder values
CyDelayUs(100); //this delay is just to prevent it form dropping too many frames
}
}
