![](/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
debug.cpp
- Committer:
- MartijnGJ
- Date:
- 2015-10-22
- Revision:
- 103:4a37d19e8fcc
- Parent:
- 101:b821e89fc108
- Child:
- 104:750d7e13137d
File content as of revision 103:4a37d19e8fcc:
#include "mbed.h" #include "debug.h" #include "HIDScope.h" #include "buttons.h" #include "actuators.h" #include "config.h" // all the debugging functions // #define TUNEPID // set to switch between normal opperation or tuning PID #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(4); void debugProcess(){ scope.set(0, motor2Pos); scope.set(1, motor2SetSpeed); scope.set(2, motor2Speed); scope.set(3, motor2PWM); scope.send(); } #endif #ifdef TUNEEMG HIDScope scope(6); // Number of scopes void debugProcess(){ scope.set(0,x_velocity); scope.set(1,motor1SetSpeed); scope.set(2,motor1Speed); scope.set(3,servoPulsewidth*100); scope.set(4,servoSpeed); scope.set(5,DOF); scope.send(); } #endif