int16_t main(void) {
init();
REV = 0;
REQUESTED_DIRECTION = 0;
SENSED_DIRECTION = 0;
DUTY = 0;
led_on(&led2);
timer_setPeriod(HB_TIMER, 0.5);
timer_start(HB_TIMER);
printf("Good morning!\n");
oc_pwm(&oc3,D2n,PWM_TIMER,FREQ,DUTY);
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB();
SetMotorVelocity(DUTY,REQUESTED_DIRECTION);
get_direction();
get_feedback();
if (timer_flag(HB_TIMER)) {
timer_lower(HB_TIMER);
led_toggle(&led1);
}
}
}
int main(int argc, char *argv[]) {
int i;
log_open("WAMtest.log");
//Register the ctrl-c interrupt handler
signal(SIGINT, sigint_handler);
//create and initialize the WamInterface struct
wamif = wamif_create(0);
wamif_hand_connect(wamif);
//start realtime mode, open and close the hand
printf("starting realtime mode\n");
wamif_hand_start_realtime(wamif, 0, 0);
int closevels[3] = {20, 20, 20};
int openvels[3] = {-50, -50, -50};
int gains[3] = {100, 100, 100};
printf("closing hand\n");
for(i=0; i<50; i++){
printf("i = %d\n", i);
wamif_realtime_bend(wamif, closevels, gains);
get_feedback();
}
printf("opening hand\n");
for(i=0; i<30; i++){
printf("i = %d\n", i);
wamif_realtime_bend(wamif, openvels, gains);
get_feedback();
}
wamif_terminate_realtime(wamif);
wamif_destroy(wamif);
log_close();
return 1;
}
