Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

Fork of MPU6050_Example by Shundo Kishi

main.cpp@6:12b6be801ad8, 2015-12-03 (annotated)

Committer:
amandaghassaei
Date:
Thu Dec 03 05:52:55 2015 +0000
Revision:
6:12b6be801ad8
Parent:
5:c3d671959ef3
Child:
7:7efcd3bf3302
comm stack stop pt for now

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 3:be5cf450436d 1 #include "mbed.h"
amandaghassaei 3:be5cf450436d 2 #include "mbed_rpc.h"
syundo0730 0:8d2c753a96e7 3
amandaghassaei 2:17b18ea93551 4 #include "MyMPU6050.h"
amandaghassaei 2:17b18ea93551 5 #include "Gains.h"
amandaghassaei 2:17b18ea93551 6 #include "Target.h"
syundo0730 0:8d2c753a96e7 7
amandaghassaei 2:17b18ea93551 8 #include "Comm.h"
amandaghassaei 5:c3d671959ef3 9 //#include "CommWrapper.h"
amandaghassaei 3:be5cf450436d 10
amandaghassaei 2:17b18ea93551 11 Gains gains;
amandaghassaei 2:17b18ea93551 12 Target target;
amandaghassaei 2:17b18ea93551 13 MyMPU6050 myMPU6050_1(p9, p10);//I2C_SDA, I2C_SCL
syundo0730 0:8d2c753a96e7 14
amandaghassaei 2:17b18ea93551 15 Comm comm(&gains, &target, &myMPU6050_1);
syundo0730 0:8d2c753a96e7 16
amandaghassaei 6:12b6be801ad8 17 int main() {
amandaghassaei 6:12b6be801ad8 18
amandaghassaei 6:12b6be801ad8 19 while(1) {
amandaghassaei 6:12b6be801ad8 20 myMPU6050_1.loop();
amandaghassaei 6:12b6be801ad8 21 comm.check();
amandaghassaei 6:12b6be801ad8 22 comm.printPosition();
amandaghassaei 6:12b6be801ad8 23 }
amandaghassaei 6:12b6be801ad8 24 }
amandaghassaei 6:12b6be801ad8 25
amandaghassaei 6:12b6be801ad8 26
amandaghassaei 6:12b6be801ad8 27 //wrappers for comm stack
amandaghassaei 5:c3d671959ef3 28 void openGripper1Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 29 comm.openGripper1(input, output);
amandaghassaei 5:c3d671959ef3 30 };
amandaghassaei 5:c3d671959ef3 31 RPCFunction OpenGripper1(&openGripper1Wrapper, "OpenGripper1");
amandaghassaei 5:c3d671959ef3 32 void closeGripper1Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 33 comm.closeGripper1(input, output);
amandaghassaei 5:c3d671959ef3 34 };
amandaghassaei 5:c3d671959ef3 35 RPCFunction CloseGripper1(&closeGripper1Wrapper, "CloseGripper1");
amandaghassaei 5:c3d671959ef3 36 void openGripper2Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 37 comm.openGripper2(input, output);
amandaghassaei 5:c3d671959ef3 38 };
amandaghassaei 5:c3d671959ef3 39 RPCFunction OpenGripper2(&openGripper2Wrapper, "OpenGripper2");
amandaghassaei 5:c3d671959ef3 40 void closeGripper2Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 41 comm.closeGripper2(input, output);
amandaghassaei 5:c3d671959ef3 42 };
amandaghassaei 5:c3d671959ef3 43 RPCFunction CloseGripper2(&closeGripper2Wrapper, "CloseGripper2");
amandaghassaei 5:c3d671959ef3 44 void setGains(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 45 comm.setGains(input, output);
amandaghassaei 5:c3d671959ef3 46 };
amandaghassaei 5:c3d671959ef3 47 RPCFunction SetGains(&setGains, "SetGains");
amandaghassaei 5:c3d671959ef3 48 void setTarget(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 49 comm.setTarget(input, output);
amandaghassaei 5:c3d671959ef3 50 };
amandaghassaei 5:c3d671959ef3 51 RPCFunction SetTarget(&setTarget, "SetTarget");
amandaghassaei 5:c3d671959ef3 52
amandaghassaei 5:c3d671959ef3 53
amandaghassaei 5:c3d671959ef3 54
amandaghassaei 5:c3d671959ef3 55
syundo0730 0:8d2c753a96e7 56