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@5:c3d671959ef3, 2015-12-03 (annotated)

Committer:
amandaghassaei
Date:
Thu Dec 03 04:52:45 2015 +0000
Revision:
5:c3d671959ef3
Parent:
4:ebb882658c50
Child:
6:12b6be801ad8
working comm;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 3:be5cf450436d 1 #include "mbed.h"
amandaghassaei 3:be5cf450436d 2 #include "mbed_rpc.h"
syundo0730 0:8d2c753a96e7 3
amandaghassaei 2:17b18ea93551 4 #include "MyMPU6050.h"
amandaghassaei 2:17b18ea93551 5 #include "Gains.h"
amandaghassaei 2:17b18ea93551 6 #include "Target.h"
syundo0730 0:8d2c753a96e7 7
amandaghassaei 2:17b18ea93551 8 #include "Comm.h"
amandaghassaei 5:c3d671959ef3 9 //#include "CommWrapper.h"
amandaghassaei 3:be5cf450436d 10
amandaghassaei 2:17b18ea93551 11 Gains gains;
amandaghassaei 2:17b18ea93551 12 Target target;
amandaghassaei 2:17b18ea93551 13 MyMPU6050 myMPU6050_1(p9, p10);//I2C_SDA, I2C_SCL
syundo0730 0:8d2c753a96e7 14
amandaghassaei 2:17b18ea93551 15 Comm comm(&gains, &target, &myMPU6050_1);
syundo0730 0:8d2c753a96e7 16
amandaghassaei 5:c3d671959ef3 17 void openGripper1Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 18 comm.openGripper1(input, output);
amandaghassaei 5:c3d671959ef3 19 };
amandaghassaei 5:c3d671959ef3 20 RPCFunction OpenGripper1(&openGripper1Wrapper, "OpenGripper1");
amandaghassaei 5:c3d671959ef3 21 void closeGripper1Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 22 comm.closeGripper1(input, output);
amandaghassaei 5:c3d671959ef3 23 };
amandaghassaei 5:c3d671959ef3 24 RPCFunction CloseGripper1(&closeGripper1Wrapper, "CloseGripper1");
amandaghassaei 5:c3d671959ef3 25 void openGripper2Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 26 comm.openGripper2(input, output);
amandaghassaei 5:c3d671959ef3 27 };
amandaghassaei 5:c3d671959ef3 28 RPCFunction OpenGripper2(&openGripper2Wrapper, "OpenGripper2");
amandaghassaei 5:c3d671959ef3 29 void closeGripper2Wrapper(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 30 comm.closeGripper2(input, output);
amandaghassaei 5:c3d671959ef3 31 };
amandaghassaei 5:c3d671959ef3 32 RPCFunction CloseGripper2(&closeGripper2Wrapper, "CloseGripper2");
amandaghassaei 5:c3d671959ef3 33 void setGains(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 34 comm.setGains(input, output);
amandaghassaei 5:c3d671959ef3 35 };
amandaghassaei 5:c3d671959ef3 36 RPCFunction SetGains(&setGains, "SetGains");
amandaghassaei 5:c3d671959ef3 37 void setTarget(Arguments * input, Reply * output){
amandaghassaei 5:c3d671959ef3 38 comm.setTarget(input, output);
amandaghassaei 5:c3d671959ef3 39 };
amandaghassaei 5:c3d671959ef3 40 RPCFunction SetTarget(&setTarget, "SetTarget");
amandaghassaei 5:c3d671959ef3 41
amandaghassaei 5:c3d671959ef3 42
amandaghassaei 5:c3d671959ef3 43
amandaghassaei 5:c3d671959ef3 44
syundo0730 0:8d2c753a96e7 45 int main() {
amandaghassaei 4:ebb882658c50 46
syundo0730 0:8d2c753a96e7 47 while(1) {
amandaghassaei 2:17b18ea93551 48 myMPU6050_1.loop();
amandaghassaei 5:c3d671959ef3 49
amandaghassaei 4:ebb882658c50 50 comm.check();
amandaghassaei 5:c3d671959ef3 51 comm.printPosition();
syundo0730 0:8d2c753a96e7 52 }
syundo0730 0:8d2c753a96e7 53 }
syundo0730 0:8d2c753a96e7 54
amandaghassaei 5:c3d671959ef3 55
syundo0730 0:8d2c753a96e7 56
amandaghassaei 5:c3d671959ef3 57