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

Comm/Comm.cpp@2:17b18ea93551, 2015-12-03 (annotated)

Committer:
amandaghassaei
Date:
Thu Dec 03 02:23:34 2015 +0000
Revision:
2:17b18ea93551
Child:
4:ebb882658c50
delegate stuff working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 2:17b18ea93551 1 #include "Comm.h"
amandaghassaei 2:17b18ea93551 2
amandaghassaei 2:17b18ea93551 3
amandaghassaei 2:17b18ea93551 4 Comm::Comm(CommDelegate *gains, CommDelegate *target, CommDelegate *myMPU6050_1):_json(_pc)//_pc(USBTX, USBRX)
amandaghassaei 2:17b18ea93551 5 {
amandaghassaei 2:17b18ea93551 6 // _pc.baud(115200);
amandaghassaei 2:17b18ea93551 7 _gains = gains;
amandaghassaei 2:17b18ea93551 8 _target = target;
amandaghassaei 2:17b18ea93551 9 _myMPU6050_1 = myMPU6050_1;
amandaghassaei 2:17b18ea93551 10 }
amandaghassaei 2:17b18ea93551 11
amandaghassaei 2:17b18ea93551 12 void Comm::openGripper1(){
amandaghassaei 2:17b18ea93551 13 printGripper1State(true);
amandaghassaei 2:17b18ea93551 14 }
amandaghassaei 2:17b18ea93551 15
amandaghassaei 2:17b18ea93551 16 void Comm::closeGripper1(){
amandaghassaei 2:17b18ea93551 17 printGripper1State(false);
amandaghassaei 2:17b18ea93551 18 }
amandaghassaei 2:17b18ea93551 19
amandaghassaei 2:17b18ea93551 20 void Comm::printGripper1State(bool state){
amandaghassaei 2:17b18ea93551 21 _json.open();
amandaghassaei 2:17b18ea93551 22 if (state) _json.print("gripper1", "true");
amandaghassaei 2:17b18ea93551 23 else _json.print("gripper1", "false");
amandaghassaei 2:17b18ea93551 24 _json.close();
amandaghassaei 2:17b18ea93551 25 }
amandaghassaei 2:17b18ea93551 26
amandaghassaei 2:17b18ea93551 27 void Comm::openGripper2(){
amandaghassaei 2:17b18ea93551 28 printGripper2State(true);
amandaghassaei 2:17b18ea93551 29 }
amandaghassaei 2:17b18ea93551 30
amandaghassaei 2:17b18ea93551 31 void Comm::closeGripper2(){
amandaghassaei 2:17b18ea93551 32 printGripper2State(false);
amandaghassaei 2:17b18ea93551 33 }
amandaghassaei 2:17b18ea93551 34
amandaghassaei 2:17b18ea93551 35 void Comm::printGripper2State(bool state){
amandaghassaei 2:17b18ea93551 36 _json.open();
amandaghassaei 2:17b18ea93551 37 if (state) _json.print("gripper2", "true");
amandaghassaei 2:17b18ea93551 38 else _json.print("gripper2", "false");
amandaghassaei 2:17b18ea93551 39 _json.close();
amandaghassaei 2:17b18ea93551 40 }
amandaghassaei 2:17b18ea93551 41
amandaghassaei 2:17b18ea93551 42 void Comm::setGains(float k1, float d1, float k2, float d2){
amandaghassaei 2:17b18ea93551 43 _gains->setGains(k1, d1, k2, d2);
amandaghassaei 2:17b18ea93551 44 }
amandaghassaei 2:17b18ea93551 45
amandaghassaei 2:17b18ea93551 46 void Comm::printGains(){
amandaghassaei 2:17b18ea93551 47 _json.open();
amandaghassaei 2:17b18ea93551 48 _json.print("k1", _gains->getK1());
amandaghassaei 2:17b18ea93551 49 _json.sepItem();
amandaghassaei 2:17b18ea93551 50 _json.print("d1", _gains->getD1());
amandaghassaei 2:17b18ea93551 51 _json.sepItem();
amandaghassaei 2:17b18ea93551 52 _json.print("k2", _gains->getK2());
amandaghassaei 2:17b18ea93551 53 _json.sepItem();
amandaghassaei 2:17b18ea93551 54 _json.print("d2", _gains->getD1());
amandaghassaei 2:17b18ea93551 55 _json.close();
amandaghassaei 2:17b18ea93551 56 }
amandaghassaei 2:17b18ea93551 57
amandaghassaei 2:17b18ea93551 58 void Comm::setTarget(int targetPosition){
amandaghassaei 2:17b18ea93551 59 _target->setPosition(targetPosition);
amandaghassaei 2:17b18ea93551 60 }
amandaghassaei 2:17b18ea93551 61
amandaghassaei 2:17b18ea93551 62 void Comm::printTarget(){
amandaghassaei 2:17b18ea93551 63 _json.open();
amandaghassaei 2:17b18ea93551 64 _json.print("target", _target->getPosition());
amandaghassaei 2:17b18ea93551 65 _json.close();
amandaghassaei 2:17b18ea93551 66 }
amandaghassaei 2:17b18ea93551 67
amandaghassaei 2:17b18ea93551 68 void Comm::printPosition(){
amandaghassaei 2:17b18ea93551 69 _json.open();
amandaghassaei 2:17b18ea93551 70 _json.print("th1", _myMPU6050_1->getTheta());
amandaghassaei 2:17b18ea93551 71 _json.sepItem();
amandaghassaei 2:17b18ea93551 72 _json.print("dth1", _myMPU6050_1->getDtheta());
amandaghassaei 2:17b18ea93551 73 _json.close();
amandaghassaei 2:17b18ea93551 74 }
amandaghassaei 2:17b18ea93551 75
amandaghassaei 2:17b18ea93551 76 //void Comm::check(){
amandaghassaei 2:17b18ea93551 77 // if (newline_detected){
amandaghassaei 2:17b18ea93551 78 // printTarget();
amandaghassaei 2:17b18ea93551 79 // }
amandaghassaei 2:17b18ea93551 80 //}
amandaghassaei 2:17b18ea93551 81 //
amandaghassaei 2:17b18ea93551 82 //void rxCallback(MODSERIAL_IRQ_INFO *q) {
amandaghassaei 2:17b18ea93551 83 // MODSERIAL *serial = q->serial;
amandaghassaei 2:17b18ea93551 84 // if ( serial->rxGetLastChar() == '\n') {
amandaghassaei 2:17b18ea93551 85 // newline_detected = true;
amandaghassaei 2:17b18ea93551 86 // }
amandaghassaei 2:17b18ea93551 87 //}