int main( void ) { initApp(); initQEI(); initSM(); initRS485(); //int* Z0; //Z0=(int*)&TXdata.Z; /* TRISAbits.TRISA4 = 0; // verbunden mit RB8 TRISBbits.TRISB4 = 0; // verbunden mit RB9 PORTAbits.RA4 = 1; PORTBbits.RB4 = 1; */ while(1) { readData(); sendData(); // blink_led(10); // GMSstep(-1); // *Z0=(int)POS2CNT; } return 0; }
void Controller_StateMachine_v2::getOutput( cvg_double &xrefo_o, cvg_double &yrefo_o, cvg_double &zrefo_o, cvg_double &vxfo_o, cvg_double &vyfo_o, cvg_double &vzfo_o, cvg_double &yawfo_o, cvg_double &dyawfo_o, cvg_double &pitchfo_o, cvg_double &rollfo_o) { if ( !started ) { initSM( xei, yei, zei, yawei); started = true; } else { process(); } xrefo_o = xrefo; yrefo_o = yrefo; zrefo_o = zrefo; yawfo_o = yawfo; vxfo_o = vxfo; vyfo_o = vyfo; vzfo_o = vzfo; dyawfo_o = dyawfo; pitchfo_o = pitchfo; rollfo_o = rollfo; }