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@11:711d3c207e8c, 2015-12-08 (annotated)

Committer:
amandaghassaei
Date:
Tue Dec 08 22:52:46 2015 +0000
Revision:
11:711d3c207e8c
Parent:
10:769cc457c3a4
Child:
14:d620415259b1
negative dth;

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 9:1d9b24d7ac77 4 Comm::Comm(CommDelegate *controls):_pc(USBTX, USBRX), _json(&_pc)
amandaghassaei 2:17b18ea93551 5 {
amandaghassaei 11:711d3c207e8c 6 _pc.baud(115200);
amandaghassaei 9:1d9b24d7ac77 7 _controls = controls;
amandaghassaei 2:17b18ea93551 8 }
amandaghassaei 2:17b18ea93551 9
amandaghassaei 5:c3d671959ef3 10 void Comm::openGripper1(Arguments* input, Reply* output){
amandaghassaei 2:17b18ea93551 11 printGripper1State(true);
amandaghassaei 2:17b18ea93551 12 }
amandaghassaei 2:17b18ea93551 13
amandaghassaei 5:c3d671959ef3 14 void Comm::closeGripper1(Arguments* input, Reply* output){
amandaghassaei 2:17b18ea93551 15 printGripper1State(false);
amandaghassaei 2:17b18ea93551 16 }
amandaghassaei 2:17b18ea93551 17
amandaghassaei 2:17b18ea93551 18 void Comm::printGripper1State(bool state){
amandaghassaei 2:17b18ea93551 19 _json.open();
amandaghassaei 2:17b18ea93551 20 if (state) _json.print("gripper1", "true");
amandaghassaei 2:17b18ea93551 21 else _json.print("gripper1", "false");
amandaghassaei 2:17b18ea93551 22 _json.close();
amandaghassaei 2:17b18ea93551 23 }
amandaghassaei 2:17b18ea93551 24
amandaghassaei 5:c3d671959ef3 25 void Comm::openGripper2(Arguments* input, Reply* output){
amandaghassaei 2:17b18ea93551 26 printGripper2State(true);
amandaghassaei 2:17b18ea93551 27 }
amandaghassaei 2:17b18ea93551 28
amandaghassaei 5:c3d671959ef3 29 void Comm::closeGripper2(Arguments* input, Reply* output){
amandaghassaei 2:17b18ea93551 30 printGripper2State(false);
amandaghassaei 2:17b18ea93551 31 }
amandaghassaei 2:17b18ea93551 32
amandaghassaei 2:17b18ea93551 33 void Comm::printGripper2State(bool state){
amandaghassaei 2:17b18ea93551 34 _json.open();
amandaghassaei 2:17b18ea93551 35 if (state) _json.print("gripper2", "true");
amandaghassaei 2:17b18ea93551 36 else _json.print("gripper2", "false");
amandaghassaei 2:17b18ea93551 37 _json.close();
amandaghassaei 2:17b18ea93551 38 }
amandaghassaei 2:17b18ea93551 39
amandaghassaei 9:1d9b24d7ac77 40 void Comm::setSwingUpK(Arguments* input, Reply* output){
amandaghassaei 9:1d9b24d7ac77 41 if (input->argc < 1){
amandaghassaei 5:c3d671959ef3 42 throwNotEnoughArgsError();
amandaghassaei 5:c3d671959ef3 43 return;
amandaghassaei 5:c3d671959ef3 44 }
amandaghassaei 9:1d9b24d7ac77 45 float k = input->getArg<float>();
amandaghassaei 9:1d9b24d7ac77 46 _controls->setSwingUpK(k);
amandaghassaei 9:1d9b24d7ac77 47 printGains();
amandaghassaei 9:1d9b24d7ac77 48 }
amandaghassaei 9:1d9b24d7ac77 49
amandaghassaei 9:1d9b24d7ac77 50 void Comm::setSwingUpD(Arguments* input, Reply* output){
amandaghassaei 9:1d9b24d7ac77 51 if (input->argc < 1){
amandaghassaei 9:1d9b24d7ac77 52 throwNotEnoughArgsError();
amandaghassaei 9:1d9b24d7ac77 53 return;
amandaghassaei 9:1d9b24d7ac77 54 }
amandaghassaei 9:1d9b24d7ac77 55 float d = input->getArg<float>();
amandaghassaei 9:1d9b24d7ac77 56 _controls->setSwingUpD(d);
amandaghassaei 5:c3d671959ef3 57 printGains();
amandaghassaei 2:17b18ea93551 58 }
amandaghassaei 10:769cc457c3a4 59 void Comm::setCurrentP(Arguments* input, Reply* output){
amandaghassaei 10:769cc457c3a4 60 if (input->argc < 1){
amandaghassaei 10:769cc457c3a4 61 throwNotEnoughArgsError();
amandaghassaei 10:769cc457c3a4 62 return;
amandaghassaei 10:769cc457c3a4 63 }
amandaghassaei 10:769cc457c3a4 64 float p = input->getArg<float>();
amandaghassaei 10:769cc457c3a4 65 _controls->setCurrentP(p);
amandaghassaei 10:769cc457c3a4 66 printGains();
amandaghassaei 10:769cc457c3a4 67 }
amandaghassaei 10:769cc457c3a4 68
amandaghassaei 10:769cc457c3a4 69 void Comm::setCurrentD(Arguments* input, Reply* output){
amandaghassaei 10:769cc457c3a4 70 if (input->argc < 1){
amandaghassaei 10:769cc457c3a4 71 throwNotEnoughArgsError();
amandaghassaei 10:769cc457c3a4 72 return;
amandaghassaei 10:769cc457c3a4 73 }
amandaghassaei 10:769cc457c3a4 74 float d = input->getArg<float>();
amandaghassaei 10:769cc457c3a4 75 _controls->setCurrentD(d);
amandaghassaei 10:769cc457c3a4 76 printGains();
amandaghassaei 10:769cc457c3a4 77 }
amandaghassaei 10:769cc457c3a4 78
amandaghassaei 10:769cc457c3a4 79
amandaghassaei 2:17b18ea93551 80
amandaghassaei 2:17b18ea93551 81 void Comm::printGains(){
amandaghassaei 2:17b18ea93551 82 _json.open();
amandaghassaei 9:1d9b24d7ac77 83 _json.print("swingUpK", _controls->getSwingUpK());
amandaghassaei 2:17b18ea93551 84 _json.sepItem();
amandaghassaei 9:1d9b24d7ac77 85 _json.print("swingUpD", _controls->getSwingUpD());
amandaghassaei 2:17b18ea93551 86 _json.sepItem();
amandaghassaei 10:769cc457c3a4 87 _json.print("currentP", _controls->getCurrentP());
amandaghassaei 2:17b18ea93551 88 _json.sepItem();
amandaghassaei 10:769cc457c3a4 89 _json.print("currentD", _controls->getCurrentD());
amandaghassaei 2:17b18ea93551 90 _json.close();
amandaghassaei 2:17b18ea93551 91 }
amandaghassaei 2:17b18ea93551 92
amandaghassaei 5:c3d671959ef3 93 void Comm::setTarget(Arguments* input, Reply* output){
amandaghassaei 5:c3d671959ef3 94 if (input->argc < 1){
amandaghassaei 5:c3d671959ef3 95 throwNotEnoughArgsError();
amandaghassaei 5:c3d671959ef3 96 return;
amandaghassaei 5:c3d671959ef3 97 }
amandaghassaei 5:c3d671959ef3 98 int targetPosition = input->getArg<int>();
amandaghassaei 9:1d9b24d7ac77 99 _controls->setTargetPosition(targetPosition);
amandaghassaei 5:c3d671959ef3 100 printTarget();
amandaghassaei 2:17b18ea93551 101 }
amandaghassaei 2:17b18ea93551 102
amandaghassaei 2:17b18ea93551 103 void Comm::printTarget(){
amandaghassaei 2:17b18ea93551 104 _json.open();
amandaghassaei 9:1d9b24d7ac77 105 _json.print("target", _controls->getTargetPosition());
amandaghassaei 2:17b18ea93551 106 _json.close();
amandaghassaei 2:17b18ea93551 107 }
amandaghassaei 2:17b18ea93551 108
amandaghassaei 11:711d3c207e8c 109 void Comm::setTheta(Arguments * input, Reply * output){
amandaghassaei 9:1d9b24d7ac77 110 if (input->argc < 1){
amandaghassaei 9:1d9b24d7ac77 111 throwNotEnoughArgsError();
amandaghassaei 9:1d9b24d7ac77 112 return;
amandaghassaei 9:1d9b24d7ac77 113 }
amandaghassaei 11:711d3c207e8c 114 float theta = input->getArg<float>();
amandaghassaei 11:711d3c207e8c 115 _pc.printf("%f\n", theta);
amandaghassaei 11:711d3c207e8c 116 _controls->setTheta(theta);
amandaghassaei 9:1d9b24d7ac77 117 }
amandaghassaei 9:1d9b24d7ac77 118
amandaghassaei 9:1d9b24d7ac77 119 void Comm::printPosition(){
amandaghassaei 2:17b18ea93551 120 _json.open();
amandaghassaei 9:1d9b24d7ac77 121 _json.print("th1", _controls->getTheta1());
amandaghassaei 9:1d9b24d7ac77 122 _json.sepItem();
amandaghassaei 9:1d9b24d7ac77 123 // _json.print("dth1", controls->getDTheta1());
amandaghassaei 8:1a3a69fecedf 124 // _json.sepItem();
amandaghassaei 9:1d9b24d7ac77 125 _json.print("th2", _controls->getTheta2());
amandaghassaei 8:1a3a69fecedf 126 // _json.sepItem();
amandaghassaei 10:769cc457c3a4 127 // _json.print("dth2", _controls->getDTheta2());
amandaghassaei 2:17b18ea93551 128 _json.close();
amandaghassaei 2:17b18ea93551 129 }
amandaghassaei 2:17b18ea93551 130
amandaghassaei 11:711d3c207e8c 131 void Comm::printVelocity(){
amandaghassaei 11:711d3c207e8c 132 _json.open();
amandaghassaei 11:711d3c207e8c 133 _json.print("dth1", _controls->getDTheta1());
amandaghassaei 11:711d3c207e8c 134 _json.sepItem();
amandaghassaei 11:711d3c207e8c 135 _json.print("dth2", _controls->getDTheta2());
amandaghassaei 11:711d3c207e8c 136 _json.close();
amandaghassaei 11:711d3c207e8c 137 }
amandaghassaei 11:711d3c207e8c 138
amandaghassaei 4:ebb882658c50 139 void Comm::check(){
amandaghassaei 5:c3d671959ef3 140 if(!_pc.readable()) return;
amandaghassaei 4:ebb882658c50 141 _pc.gets(buf, 256);
amandaghassaei 4:ebb882658c50 142 //Call the static call method on the RPC class
amandaghassaei 4:ebb882658c50 143 RPC::call(buf, outbuf);
amandaghassaei 5:c3d671959ef3 144 // _pc.printf("%s\n", outbuf);
amandaghassaei 4:ebb882658c50 145 }
amandaghassaei 5:c3d671959ef3 146
amandaghassaei 9:1d9b24d7ac77 147 Serial* Comm::getPC(){
amandaghassaei 9:1d9b24d7ac77 148 return &_pc;
amandaghassaei 9:1d9b24d7ac77 149 }
amandaghassaei 9:1d9b24d7ac77 150
amandaghassaei 5:c3d671959ef3 151 void Comm::throwNotEnoughArgsError(){
amandaghassaei 5:c3d671959ef3 152 _json.open();
amandaghassaei 5:c3d671959ef3 153 _json.print("error", "not enough input arguments");
amandaghassaei 5:c3d671959ef3 154 _json.close();
amandaghassaei 5:c3d671959ef3 155 }