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@4:ebb882658c50, 2015-12-03 (annotated)

Committer:
amandaghassaei
Date:
Thu Dec 03 03:14:00 2015 +0000
Revision:
4:ebb882658c50
Parent:
2:17b18ea93551
Child:
5:c3d671959ef3
added pc back to comm object;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 2:17b18ea93551 1 #include "Comm.h"
amandaghassaei 4:ebb882658c50 2 #include "mbed_rpc.h"
amandaghassaei 2:17b18ea93551 3
amandaghassaei 2:17b18ea93551 4
amandaghassaei 4:ebb882658c50 5 Comm::Comm(CommDelegate *gains, CommDelegate *target, CommDelegate *myMPU6050_1):_pc(USBTX, USBRX), _json(&_pc)
amandaghassaei 2:17b18ea93551 6 {
amandaghassaei 2:17b18ea93551 7 // _pc.baud(115200);
amandaghassaei 2:17b18ea93551 8 _gains = gains;
amandaghassaei 2:17b18ea93551 9 _target = target;
amandaghassaei 2:17b18ea93551 10 _myMPU6050_1 = myMPU6050_1;
amandaghassaei 2:17b18ea93551 11 }
amandaghassaei 2:17b18ea93551 12
amandaghassaei 2:17b18ea93551 13 void Comm::openGripper1(){
amandaghassaei 2:17b18ea93551 14 printGripper1State(true);
amandaghassaei 2:17b18ea93551 15 }
amandaghassaei 2:17b18ea93551 16
amandaghassaei 2:17b18ea93551 17 void Comm::closeGripper1(){
amandaghassaei 2:17b18ea93551 18 printGripper1State(false);
amandaghassaei 2:17b18ea93551 19 }
amandaghassaei 2:17b18ea93551 20
amandaghassaei 2:17b18ea93551 21 void Comm::printGripper1State(bool state){
amandaghassaei 2:17b18ea93551 22 _json.open();
amandaghassaei 2:17b18ea93551 23 if (state) _json.print("gripper1", "true");
amandaghassaei 2:17b18ea93551 24 else _json.print("gripper1", "false");
amandaghassaei 2:17b18ea93551 25 _json.close();
amandaghassaei 2:17b18ea93551 26 }
amandaghassaei 2:17b18ea93551 27
amandaghassaei 2:17b18ea93551 28 void Comm::openGripper2(){
amandaghassaei 2:17b18ea93551 29 printGripper2State(true);
amandaghassaei 2:17b18ea93551 30 }
amandaghassaei 2:17b18ea93551 31
amandaghassaei 2:17b18ea93551 32 void Comm::closeGripper2(){
amandaghassaei 2:17b18ea93551 33 printGripper2State(false);
amandaghassaei 2:17b18ea93551 34 }
amandaghassaei 2:17b18ea93551 35
amandaghassaei 2:17b18ea93551 36 void Comm::printGripper2State(bool state){
amandaghassaei 2:17b18ea93551 37 _json.open();
amandaghassaei 2:17b18ea93551 38 if (state) _json.print("gripper2", "true");
amandaghassaei 2:17b18ea93551 39 else _json.print("gripper2", "false");
amandaghassaei 2:17b18ea93551 40 _json.close();
amandaghassaei 2:17b18ea93551 41 }
amandaghassaei 2:17b18ea93551 42
amandaghassaei 2:17b18ea93551 43 void Comm::setGains(float k1, float d1, float k2, float d2){
amandaghassaei 2:17b18ea93551 44 _gains->setGains(k1, d1, k2, d2);
amandaghassaei 2:17b18ea93551 45 }
amandaghassaei 2:17b18ea93551 46
amandaghassaei 2:17b18ea93551 47 void Comm::printGains(){
amandaghassaei 2:17b18ea93551 48 _json.open();
amandaghassaei 2:17b18ea93551 49 _json.print("k1", _gains->getK1());
amandaghassaei 2:17b18ea93551 50 _json.sepItem();
amandaghassaei 2:17b18ea93551 51 _json.print("d1", _gains->getD1());
amandaghassaei 2:17b18ea93551 52 _json.sepItem();
amandaghassaei 2:17b18ea93551 53 _json.print("k2", _gains->getK2());
amandaghassaei 2:17b18ea93551 54 _json.sepItem();
amandaghassaei 2:17b18ea93551 55 _json.print("d2", _gains->getD1());
amandaghassaei 2:17b18ea93551 56 _json.close();
amandaghassaei 2:17b18ea93551 57 }
amandaghassaei 2:17b18ea93551 58
amandaghassaei 2:17b18ea93551 59 void Comm::setTarget(int targetPosition){
amandaghassaei 2:17b18ea93551 60 _target->setPosition(targetPosition);
amandaghassaei 2:17b18ea93551 61 }
amandaghassaei 2:17b18ea93551 62
amandaghassaei 2:17b18ea93551 63 void Comm::printTarget(){
amandaghassaei 2:17b18ea93551 64 _json.open();
amandaghassaei 2:17b18ea93551 65 _json.print("target", _target->getPosition());
amandaghassaei 2:17b18ea93551 66 _json.close();
amandaghassaei 2:17b18ea93551 67 }
amandaghassaei 2:17b18ea93551 68
amandaghassaei 2:17b18ea93551 69 void Comm::printPosition(){
amandaghassaei 2:17b18ea93551 70 _json.open();
amandaghassaei 2:17b18ea93551 71 _json.print("th1", _myMPU6050_1->getTheta());
amandaghassaei 2:17b18ea93551 72 _json.sepItem();
amandaghassaei 2:17b18ea93551 73 _json.print("dth1", _myMPU6050_1->getDtheta());
amandaghassaei 2:17b18ea93551 74 _json.close();
amandaghassaei 2:17b18ea93551 75 }
amandaghassaei 2:17b18ea93551 76
amandaghassaei 4:ebb882658c50 77 void Comm::check(){
amandaghassaei 4:ebb882658c50 78 _pc.gets(buf, 256);
amandaghassaei 4:ebb882658c50 79 //Call the static call method on the RPC class
amandaghassaei 4:ebb882658c50 80 RPC::call(buf, outbuf);
amandaghassaei 4:ebb882658c50 81 _pc.printf("%s\n", outbuf);
amandaghassaei 4:ebb882658c50 82 }