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@8:1a3a69fecedf, 2015-12-03 (annotated)

Committer:
amandaghassaei
Date:
Thu Dec 03 23:55:44 2015 +0000
Revision:
8:1a3a69fecedf
Parent:
7:7efcd3bf3302
Child:
9:1d9b24d7ac77
added in matlab controls;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 3:be5cf450436d 1 #include "mbed.h"
amandaghassaei 7:7efcd3bf3302 2 #include "mbed_rpc.h"
amandaghassaei 2:17b18ea93551 3 #include "Comm.h"
amandaghassaei 7:7efcd3bf3302 4 #include "Controls.h"
amandaghassaei 3:be5cf450436d 5
amandaghassaei 7:7efcd3bf3302 6 Controls controls;
amandaghassaei 8:1a3a69fecedf 7 Comm comm(&(controls.gains), &(controls.target));
syundo0730 0:8d2c753a96e7 8
amandaghassaei 6:12b6be801ad8 9 int main() {
amandaghassaei 6:12b6be801ad8 10
amandaghassaei 6:12b6be801ad8 11 while(1) {
amandaghassaei 7:7efcd3bf3302 12 controls.loop();
amandaghassaei 6:12b6be801ad8 13 comm.check();
amandaghassaei 8:1a3a69fecedf 14 comm.printPosition(&controls);
amandaghassaei 6:12b6be801ad8 15 }
amandaghassaei 6:12b6be801ad8 16 }
amandaghassaei 6:12b6be801ad8 17
amandaghassaei 6:12b6be801ad8 18
amandaghassaei 6:12b6be801ad8 19 //wrappers for comm stack
amandaghassaei 5:c3d671959ef3 20 void openGripper1Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 21 comm.openGripper1(input, output);
amandaghassaei 5:c3d671959ef3 22 };
amandaghassaei 5:c3d671959ef3 23 RPCFunction OpenGripper1(&openGripper1Wrapper, "OpenGripper1");
amandaghassaei 5:c3d671959ef3 24 void closeGripper1Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 25 comm.closeGripper1(input, output);
amandaghassaei 5:c3d671959ef3 26 };
amandaghassaei 5:c3d671959ef3 27 RPCFunction CloseGripper1(&closeGripper1Wrapper, "CloseGripper1");
amandaghassaei 5:c3d671959ef3 28 void openGripper2Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 29 comm.openGripper2(input, output);
amandaghassaei 5:c3d671959ef3 30 };
amandaghassaei 5:c3d671959ef3 31 RPCFunction OpenGripper2(&openGripper2Wrapper, "OpenGripper2");
amandaghassaei 5:c3d671959ef3 32 void closeGripper2Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 33 comm.closeGripper2(input, output);
amandaghassaei 5:c3d671959ef3 34 };
amandaghassaei 5:c3d671959ef3 35 RPCFunction CloseGripper2(&closeGripper2Wrapper, "CloseGripper2");
amandaghassaei 5:c3d671959ef3 36 void setGains(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 37 comm.setGains(input, output);
amandaghassaei 5:c3d671959ef3 38 };
amandaghassaei 5:c3d671959ef3 39 RPCFunction SetGains(&setGains, "SetGains");
amandaghassaei 5:c3d671959ef3 40 void setTarget(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 41 comm.setTarget(input, output);
amandaghassaei 5:c3d671959ef3 42 };
amandaghassaei 5:c3d671959ef3 43 RPCFunction SetTarget(&setTarget, "SetTarget");
amandaghassaei 5:c3d671959ef3 44
amandaghassaei 5:c3d671959ef3 45
amandaghassaei 5:c3d671959ef3 46
amandaghassaei 5:c3d671959ef3 47
syundo0730 0:8d2c753a96e7 48