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@9:1d9b24d7ac77, 2015-12-05 (annotated)

Committer:
amandaghassaei
Date:
Sat Dec 05 00:40:42 2015 +0000
Revision:
9:1d9b24d7ac77
Parent:
8:1a3a69fecedf
Child:
10:769cc457c3a4
basic motor pwm working

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 9:1d9b24d7ac77 7 Comm comm(&controls);
amandaghassaei 9:1d9b24d7ac77 8
amandaghassaei 9:1d9b24d7ac77 9 long serialCounter = 0;
amandaghassaei 9:1d9b24d7ac77 10
amandaghassaei 9:1d9b24d7ac77 11
syundo0730 0:8d2c753a96e7 12
amandaghassaei 6:12b6be801ad8 13 int main() {
amandaghassaei 9:1d9b24d7ac77 14 controls.setPC(comm.getPC());
amandaghassaei 9:1d9b24d7ac77 15 // comm.printPosition();
amandaghassaei 9:1d9b24d7ac77 16 // comm.printGains();
amandaghassaei 6:12b6be801ad8 17 while(1) {
amandaghassaei 7:7efcd3bf3302 18 controls.loop();
amandaghassaei 6:12b6be801ad8 19 comm.check();
amandaghassaei 9:1d9b24d7ac77 20 if (serialCounter++>100) {
amandaghassaei 9:1d9b24d7ac77 21 // comm.printPosition();
amandaghassaei 9:1d9b24d7ac77 22 // controls.printPWM();
amandaghassaei 9:1d9b24d7ac77 23 serialCounter = 0;
amandaghassaei 9:1d9b24d7ac77 24 }
amandaghassaei 6:12b6be801ad8 25 }
amandaghassaei 6:12b6be801ad8 26 }
amandaghassaei 6:12b6be801ad8 27
amandaghassaei 6:12b6be801ad8 28
amandaghassaei 6:12b6be801ad8 29 //wrappers for comm stack
amandaghassaei 5:c3d671959ef3 30 void openGripper1Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 31 comm.openGripper1(input, output);
amandaghassaei 5:c3d671959ef3 32 };
amandaghassaei 5:c3d671959ef3 33 RPCFunction OpenGripper1(&openGripper1Wrapper, "OpenGripper1");
amandaghassaei 5:c3d671959ef3 34 void closeGripper1Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 35 comm.closeGripper1(input, output);
amandaghassaei 5:c3d671959ef3 36 };
amandaghassaei 5:c3d671959ef3 37 RPCFunction CloseGripper1(&closeGripper1Wrapper, "CloseGripper1");
amandaghassaei 5:c3d671959ef3 38 void openGripper2Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 39 comm.openGripper2(input, output);
amandaghassaei 5:c3d671959ef3 40 };
amandaghassaei 5:c3d671959ef3 41 RPCFunction OpenGripper2(&openGripper2Wrapper, "OpenGripper2");
amandaghassaei 5:c3d671959ef3 42 void closeGripper2Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 43 comm.closeGripper2(input, output);
amandaghassaei 5:c3d671959ef3 44 };
amandaghassaei 5:c3d671959ef3 45 RPCFunction CloseGripper2(&closeGripper2Wrapper, "CloseGripper2");
amandaghassaei 9:1d9b24d7ac77 46 void setSwingUpKWrapper(Arguments * input, Reply * output){
amandaghassaei 9:1d9b24d7ac77 47 comm.setSwingUpK(input, output);
amandaghassaei 5:c3d671959ef3 48 };
amandaghassaei 9:1d9b24d7ac77 49 RPCFunction SetSwingUpK(&setSwingUpKWrapper, "SetSwingUpK");
amandaghassaei 9:1d9b24d7ac77 50 void setSwingUpDWrapper(Arguments * input, Reply * output){
amandaghassaei 9:1d9b24d7ac77 51 comm.setSwingUpD(input, output);
amandaghassaei 9:1d9b24d7ac77 52 };
amandaghassaei 9:1d9b24d7ac77 53 RPCFunction SetSwingUpD(&setSwingUpDWrapper, "SetSwingUpD");
amandaghassaei 9:1d9b24d7ac77 54 void setTargetWrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 55 comm.setTarget(input, output);
amandaghassaei 5:c3d671959ef3 56 };
amandaghassaei 9:1d9b24d7ac77 57 RPCFunction SetTarget(&setTargetWrapper, "SetTarget");
amandaghassaei 9:1d9b24d7ac77 58 void setTorqueWrapper(Arguments * input, Reply * output){
amandaghassaei 9:1d9b24d7ac77 59 comm.setTorque(input, output);
amandaghassaei 9:1d9b24d7ac77 60 };
amandaghassaei 9:1d9b24d7ac77 61 RPCFunction SetTorque(&setTorqueWrapper, "SetTorque");
amandaghassaei 5:c3d671959ef3 62
amandaghassaei 5:c3d671959ef3 63
amandaghassaei 5:c3d671959ef3 64
amandaghassaei 5:c3d671959ef3 65
syundo0730 0:8d2c753a96e7 66