Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

debug.cpp@57:43f707648f2b, 2015-10-12 (annotated)

Committer:
annesteenbeek
Date:
Mon Oct 12 11:46:47 2015 +0200
Revision:
57:43f707648f2b
Parent:
56:f730962fbb53
Child:
60:20945383ad1b
PID tuning

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 14:0c0d1bfd94ea 1 #include "mbed.h"
annesteenbeek 14:0c0d1bfd94ea 2 #include "debug.h"
annesteenbeek 25:874675516927 3 #include "HIDScope.h"
annesteenbeek 25:874675516927 4 #include "buttons.h"
annesteenbeek 25:874675516927 5 #include "actuators.h"
annesteenbeek 25:874675516927 6 #include "config.h"
annesteenbeek 1:80f098c05d4b 7 // all the debugging functions
annesteenbeek 25:874675516927 8
annesteenbeek 57:43f707648f2b 9
annesteenbeek 57:43f707648f2b 10 #ifdef TUNEPID
annesteenbeek 57:43f707648f2b 11 HIDScope scope(5);
annesteenbeek 57:43f707648f2b 12
annesteenbeek 57:43f707648f2b 13 void debugProcess(){
annesteenbeek 57:43f707648f2b 14 scope.set(0, Kp);
annesteenbeek 57:43f707648f2b 15 scope.set(1, Ki);
annesteenbeek 57:43f707648f2b 16 scope.set(2, Kd);
annesteenbeek 57:43f707648f2b 17 scope.set(3, motor2SetSpeed);
annesteenbeek 57:43f707648f2b 18 scope.set(4, motor2Speed);
annesteenbeek 57:43f707648f2b 19 scope.send();
annesteenbeek 57:43f707648f2b 20 }
annesteenbeek 57:43f707648f2b 21
annesteenbeek 57:43f707648f2b 22 #elif
annesteenbeek 50:b0cf07ca53cf 23 HIDScope scope(4);
annesteenbeek 1:80f098c05d4b 24
annesteenbeek 1:80f098c05d4b 25 void debugProcess(){
annesteenbeek 55:ee5257fb73df 26 scope.set(0, pidOut);
annesteenbeek 52:2ac9dee099ce 27 scope.set(1, motor2SetSpeed);
annesteenbeek 56:f730962fbb53 28 scope.set(2, motor2Speed);
annesteenbeek 52:2ac9dee099ce 29 scope.set(3, motor2PWM);
annesteenbeek 25:874675516927 30 scope.send();
annesteenbeek 57:43f707648f2b 31 }
annesteenbeek 57:43f707648f2b 32
annesteenbeek 57:43f707648f2b 33 #endif