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@122:1a5df0765790, 2015-10-29 (annotated)

Committer:
annesteenbeek
Date:
Thu Oct 29 12:26:50 2015 +0000
Revision:
122:1a5df0765790
Parent:
121:6d8f1bdcda05 
Anne is lunch halen

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 98:25528494287d 9 // #define TUNEPID // set to switch between normal opperation or tuning PID
annesteenbeek 110:a6439e13be8b 10 // #define TUNEEMG // set hdiscope for EMG
annesteenbeek 110:a6439e13be8b 11 #define TUNEPWM // set hidscope for rest
annesteenbeek 57:43f707648f2b 12
annesteenbeek 78:0cc7c64ba94c 13 #ifdef TUNEPWM
annesteenbeek 122:1a5df0765790 14 HIDScope scope(6);
annesteenbeek 1:80f098c05d4b 15
annesteenbeek 1:80f098c05d4b 16 void debugProcess(){
annesteenbeek 121:6d8f1bdcda05 17 scope.set(0, motor1SetSpeed);
annesteenbeek 122:1a5df0765790 18 scope.set(1, motor1Speed);
annesteenbeek 122:1a5df0765790 19 scope.set(2, motor1PWM);
annesteenbeek 122:1a5df0765790 20 scope.set(3, motor2SetSpeed);
annesteenbeek 122:1a5df0765790 21 scope.set(4, motor2Speed);
annesteenbeek 122:1a5df0765790 22 scope.set(5, motor2PWM);
annesteenbeek 25:874675516927 23 scope.send();
annesteenbeek 57:43f707648f2b 24 }
annesteenbeek 57:43f707648f2b 25
annesteenbeek 78:0cc7c64ba94c 26 #endif
annesteenbeek 78:0cc7c64ba94c 27
annesteenbeek 78:0cc7c64ba94c 28 #ifdef TUNEEMG
annesteenbeek 100:222c27f55b85 29 HIDScope scope(5); // Number of scopes
annesteenbeek 78:0cc7c64ba94c 30
annesteenbeek 78:0cc7c64ba94c 31 void debugProcess(){
annesteenbeek 100:222c27f55b85 32 scope.set(0,y_velocity);
annesteenbeek 100:222c27f55b85 33 scope.set(1,motor2SetSpeed);
annesteenbeek 100:222c27f55b85 34 scope.set(2,z_velocity);
annesteenbeek 100:222c27f55b85 35 scope.set(3,mode);
annesteenbeek 100:222c27f55b85 36 scope.set(4,DOF);
annesteenbeek 100:222c27f55b85 37 scope.set(5,motorsEnable);
annesteenbeek 78:0cc7c64ba94c 38 scope.send();
annesteenbeek 78:0cc7c64ba94c 39 }
annesteenbeek 57:43f707648f2b 40 #endif