![](/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:
- annesteenbeek
- Date:
- 2015-10-27
- Revision:
- 110:a6439e13be8b
- Parent:
- 100:222c27f55b85
- Child:
- 121:6d8f1bdcda05
File content as of revision 110:a6439e13be8b:
#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(5); void debugProcess(){ scope.set(0, motor2Pos); scope.set(1, motor2SetSpeed); scope.set(2, motor2Speed); scope.set(3, motor2PWM); scope.set(4, 1300 + 700*servoSpeed); scope.send(); } #endif #ifdef TUNEEMG HIDScope scope(5); // Number of scopes void debugProcess(){ scope.set(0,y_velocity); scope.set(1,motor2SetSpeed); scope.set(2,z_velocity); scope.set(3,mode); scope.set(4,DOF); scope.set(5,motorsEnable); scope.send(); } #endif