control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
debug.cpp@62:6c566e6f9664, 2015-10-14 (annotated)
- Committer:
- annesteenbeek
- Date:
- Wed Oct 14 13:52:16 2015 +0200
- Revision:
- 62:6c566e6f9664
- Parent:
- 60:20945383ad1b
- Child:
- 78:0cc7c64ba94c
converted all floats to doubles
Who changed what in which revision?
User | Revision | Line number | New 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 | 60:20945383ad1b | 14 | scope.set(0, motor2PID.getKp()); |
annesteenbeek | 60:20945383ad1b | 15 | scope.set(1, motor2PID.getKi()); |
annesteenbeek | 60:20945383ad1b | 16 | scope.set(2, motor2PID.getKd()); |
annesteenbeek | 57:43f707648f2b | 17 | scope.set(3, motor2SetSpeed); |
annesteenbeek | 57:43f707648f2b | 18 | scope.set(4, motor2Speed); |
annesteenbeek | 62:6c566e6f9664 | 19 | scope.set(5, motor2PWM); |
annesteenbeek | 57:43f707648f2b | 20 | scope.send(); |
annesteenbeek | 57:43f707648f2b | 21 | } |
annesteenbeek | 57:43f707648f2b | 22 | |
annesteenbeek | 60:20945383ad1b | 23 | #else |
annesteenbeek | 50:b0cf07ca53cf | 24 | HIDScope scope(4); |
annesteenbeek | 1:80f098c05d4b | 25 | |
annesteenbeek | 1:80f098c05d4b | 26 | void debugProcess(){ |
annesteenbeek | 60:20945383ad1b | 27 | scope.set(0, motor2Pos); |
annesteenbeek | 52:2ac9dee099ce | 28 | scope.set(1, motor2SetSpeed); |
annesteenbeek | 56:f730962fbb53 | 29 | scope.set(2, motor2Speed); |
annesteenbeek | 52:2ac9dee099ce | 30 | scope.set(3, motor2PWM); |
annesteenbeek | 25:874675516927 | 31 | scope.send(); |
annesteenbeek | 57:43f707648f2b | 32 | } |
annesteenbeek | 57:43f707648f2b | 33 | |
annesteenbeek | 57:43f707648f2b | 34 | #endif |