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@17:8a0e647cf551, 2015-12-11 (annotated)

Committer:
amandaghassaei
Date:
Fri Dec 11 00:44:45 2015 +0000
Revision:
17:8a0e647cf551
Parent:
14:d620415259b1
Child:
19:270735e44c98
eod

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 17:8a0e647cf551 59
amandaghassaei 17:8a0e647cf551 60
amandaghassaei 17:8a0e647cf551 61 void Comm::setTargetingK(Arguments* input, Reply* output){
amandaghassaei 17:8a0e647cf551 62 if (input->argc < 1){
amandaghassaei 17:8a0e647cf551 63 throwNotEnoughArgsError();
amandaghassaei 17:8a0e647cf551 64 return;
amandaghassaei 17:8a0e647cf551 65 }
amandaghassaei 17:8a0e647cf551 66 float k = input->getArg<float>();
amandaghassaei 17:8a0e647cf551 67 _controls->setTargetingK(k);
amandaghassaei 17:8a0e647cf551 68 printGains();
amandaghassaei 17:8a0e647cf551 69 }
amandaghassaei 17:8a0e647cf551 70 void Comm::setTargetingD(Arguments* input, Reply* output){
amandaghassaei 17:8a0e647cf551 71 if (input->argc < 1){
amandaghassaei 17:8a0e647cf551 72 throwNotEnoughArgsError();
amandaghassaei 17:8a0e647cf551 73 return;
amandaghassaei 17:8a0e647cf551 74 }
amandaghassaei 17:8a0e647cf551 75 float d = input->getArg<float>();
amandaghassaei 17:8a0e647cf551 76 _controls->setTargetingD(d);
amandaghassaei 17:8a0e647cf551 77 printGains();
amandaghassaei 17:8a0e647cf551 78 }
amandaghassaei 17:8a0e647cf551 79
amandaghassaei 17:8a0e647cf551 80
amandaghassaei 14:d620415259b1 81 void Comm::setDesiredThetaP(Arguments* input, Reply* output){
amandaghassaei 10:769cc457c3a4 82 if (input->argc < 1){
amandaghassaei 10:769cc457c3a4 83 throwNotEnoughArgsError();
amandaghassaei 10:769cc457c3a4 84 return;
amandaghassaei 10:769cc457c3a4 85 }
amandaghassaei 10:769cc457c3a4 86 float p = input->getArg<float>();
amandaghassaei 14:d620415259b1 87 _controls->setDesiredThetaP(p);
amandaghassaei 10:769cc457c3a4 88 printGains();
amandaghassaei 10:769cc457c3a4 89 }
amandaghassaei 10:769cc457c3a4 90
amandaghassaei 2:17b18ea93551 91
amandaghassaei 2:17b18ea93551 92 void Comm::printGains(){
amandaghassaei 2:17b18ea93551 93 _json.open();
amandaghassaei 9:1d9b24d7ac77 94 _json.print("swingUpK", _controls->getSwingUpK());
amandaghassaei 2:17b18ea93551 95 _json.sepItem();
amandaghassaei 9:1d9b24d7ac77 96 _json.print("swingUpD", _controls->getSwingUpD());
amandaghassaei 2:17b18ea93551 97 _json.sepItem();
amandaghassaei 14:d620415259b1 98 _json.print("desiredThetaP", _controls->getDesiredThetaP());
amandaghassaei 17:8a0e647cf551 99 _json.sepItem();
amandaghassaei 17:8a0e647cf551 100 _json.print("targetingK", _controls->getTargetingK());
amandaghassaei 17:8a0e647cf551 101 _json.sepItem();
amandaghassaei 17:8a0e647cf551 102 _json.print("targetingD", _controls->getTargetingD());
amandaghassaei 2:17b18ea93551 103 _json.close();
amandaghassaei 2:17b18ea93551 104 }
amandaghassaei 2:17b18ea93551 105
amandaghassaei 5:c3d671959ef3 106 void Comm::setTarget(Arguments* input, Reply* output){
amandaghassaei 5:c3d671959ef3 107 if (input->argc < 1){
amandaghassaei 5:c3d671959ef3 108 throwNotEnoughArgsError();
amandaghassaei 5:c3d671959ef3 109 return;
amandaghassaei 5:c3d671959ef3 110 }
amandaghassaei 5:c3d671959ef3 111 int targetPosition = input->getArg<int>();
amandaghassaei 9:1d9b24d7ac77 112 _controls->setTargetPosition(targetPosition);
amandaghassaei 5:c3d671959ef3 113 printTarget();
amandaghassaei 2:17b18ea93551 114 }
amandaghassaei 2:17b18ea93551 115
amandaghassaei 2:17b18ea93551 116 void Comm::printTarget(){
amandaghassaei 2:17b18ea93551 117 _json.open();
amandaghassaei 9:1d9b24d7ac77 118 _json.print("target", _controls->getTargetPosition());
amandaghassaei 2:17b18ea93551 119 _json.close();
amandaghassaei 2:17b18ea93551 120 }
amandaghassaei 2:17b18ea93551 121
amandaghassaei 11:711d3c207e8c 122 void Comm::setTheta(Arguments * input, Reply * output){
amandaghassaei 9:1d9b24d7ac77 123 if (input->argc < 1){
amandaghassaei 9:1d9b24d7ac77 124 throwNotEnoughArgsError();
amandaghassaei 9:1d9b24d7ac77 125 return;
amandaghassaei 9:1d9b24d7ac77 126 }
amandaghassaei 11:711d3c207e8c 127 float theta = input->getArg<float>();
amandaghassaei 11:711d3c207e8c 128 _pc.printf("%f\n", theta);
amandaghassaei 11:711d3c207e8c 129 _controls->setTheta(theta);
amandaghassaei 9:1d9b24d7ac77 130 }
amandaghassaei 9:1d9b24d7ac77 131
amandaghassaei 9:1d9b24d7ac77 132 void Comm::printPosition(){
amandaghassaei 2:17b18ea93551 133 _json.open();
amandaghassaei 9:1d9b24d7ac77 134 _json.print("th1", _controls->getTheta1());
amandaghassaei 9:1d9b24d7ac77 135 _json.sepItem();
amandaghassaei 9:1d9b24d7ac77 136 // _json.print("dth1", controls->getDTheta1());
amandaghassaei 8:1a3a69fecedf 137 // _json.sepItem();
amandaghassaei 9:1d9b24d7ac77 138 _json.print("th2", _controls->getTheta2());
amandaghassaei 8:1a3a69fecedf 139 // _json.sepItem();
amandaghassaei 10:769cc457c3a4 140 // _json.print("dth2", _controls->getDTheta2());
amandaghassaei 2:17b18ea93551 141 _json.close();
amandaghassaei 2:17b18ea93551 142 }
amandaghassaei 2:17b18ea93551 143
amandaghassaei 11:711d3c207e8c 144 void Comm::printVelocity(){
amandaghassaei 11:711d3c207e8c 145 _json.open();
amandaghassaei 11:711d3c207e8c 146 _json.print("dth1", _controls->getDTheta1());
amandaghassaei 11:711d3c207e8c 147 _json.sepItem();
amandaghassaei 11:711d3c207e8c 148 _json.print("dth2", _controls->getDTheta2());
amandaghassaei 11:711d3c207e8c 149 _json.close();
amandaghassaei 11:711d3c207e8c 150 }
amandaghassaei 11:711d3c207e8c 151
amandaghassaei 4:ebb882658c50 152 void Comm::check(){
amandaghassaei 5:c3d671959ef3 153 if(!_pc.readable()) return;
amandaghassaei 4:ebb882658c50 154 _pc.gets(buf, 256);
amandaghassaei 4:ebb882658c50 155 //Call the static call method on the RPC class
amandaghassaei 4:ebb882658c50 156 RPC::call(buf, outbuf);
amandaghassaei 5:c3d671959ef3 157 // _pc.printf("%s\n", outbuf);
amandaghassaei 4:ebb882658c50 158 }
amandaghassaei 5:c3d671959ef3 159
amandaghassaei 9:1d9b24d7ac77 160 Serial* Comm::getPC(){
amandaghassaei 9:1d9b24d7ac77 161 return &_pc;
amandaghassaei 9:1d9b24d7ac77 162 }
amandaghassaei 9:1d9b24d7ac77 163
amandaghassaei 5:c3d671959ef3 164 void Comm::throwNotEnoughArgsError(){
amandaghassaei 5:c3d671959ef3 165 _json.open();
amandaghassaei 5:c3d671959ef3 166 _json.print("error", "not enough input arguments");
amandaghassaei 5:c3d671959ef3 167 _json.close();
amandaghassaei 5:c3d671959ef3 168 }