![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: debug.cpp
- Revision:
- 122:1a5df0765790
- Parent:
- 121:6d8f1bdcda05
--- a/debug.cpp Wed Oct 28 13:38:36 2015 +0100 +++ b/debug.cpp Thu Oct 29 12:26:50 2015 +0000 @@ -10,30 +10,16 @@ // #define TUNEEMG // set hdiscope for EMG #define TUNEPWM // set hidscope for rest -#ifdef TUNEPID -HIDScope scope(5); - -void debugProcess(){ - scope.set(0, motor2PID.getKp()); - scope.set(1, motor2PID.getKi()); - scope.set(2, motor2PID.getKd()); - scope.set(3, motor2SetSpeed); - scope.set(4, motor2Speed); - scope.set(5, motor2PWM); - scope.send(); -} - -#endif #ifdef TUNEPWM -HIDScope scope(5); +HIDScope scope(6); void debugProcess(){ scope.set(0, motor1SetSpeed); - scope.set(1, motor2SetSpeed); - scope.set(2, setXSpeed); - scope.set(3, motor1PWM); - scope.set(4, motor2PWM); - scope.set(5, Xpos) + scope.set(1, motor1Speed); + scope.set(2, motor1PWM); + scope.set(3, motor2SetSpeed); + scope.set(4, motor2Speed); + scope.set(5, motor2PWM); scope.send(); }