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@78:0cc7c64ba94c, 2015-10-20 (annotated)

Committer:
annesteenbeek
Date:
Tue Oct 20 12:58:13 2015 +0200
Revision:
78:0cc7c64ba94c
Parent:
62:6c566e6f9664
Child:
88:dd198c58f053
started merging EMG

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 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 78:0cc7c64ba94c 23 #endif
annesteenbeek 78:0cc7c64ba94c 24 #ifdef TUNEPWM
annesteenbeek 50:b0cf07ca53cf 25 HIDScope scope(4);
annesteenbeek 1:80f098c05d4b 26
annesteenbeek 1:80f098c05d4b 27 void debugProcess(){
annesteenbeek 60:20945383ad1b 28 scope.set(0, motor2Pos);
annesteenbeek 52:2ac9dee099ce 29 scope.set(1, motor2SetSpeed);
annesteenbeek 56:f730962fbb53 30 scope.set(2, motor2Speed);
annesteenbeek 52:2ac9dee099ce 31 scope.set(3, motor2PWM);
annesteenbeek 25:874675516927 32 scope.send();
annesteenbeek 57:43f707648f2b 33 }
annesteenbeek 57:43f707648f2b 34
annesteenbeek 78:0cc7c64ba94c 35 #endif
annesteenbeek 78:0cc7c64ba94c 36
annesteenbeek 78:0cc7c64ba94c 37 #ifdef TUNEEMG
annesteenbeek 78:0cc7c64ba94c 38 HIDScope scope(4); // Number of scopes
annesteenbeek 78:0cc7c64ba94c 39
annesteenbeek 78:0cc7c64ba94c 40 void debugProcess(){
annesteenbeek 78:0cc7c64ba94c 41 scope.set(0,x_velocity);
annesteenbeek 78:0cc7c64ba94c 42 scope.set(1,y_velocity);
annesteenbeek 78:0cc7c64ba94c 43 scope.set(2,pump);
annesteenbeek 78:0cc7c64ba94c 44 scope.set(3,DOF);
annesteenbeek 78:0cc7c64ba94c 45 scope.send();
annesteenbeek 78:0cc7c64ba94c 46 }
annesteenbeek 57:43f707648f2b 47 #endif