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.h@20:f13b949b623b, 2015-12-11 (annotated)

Committer:
amandaghassaei
Date:
Fri Dec 11 08:54:32 2015 +0000
Revision:
20:f13b949b623b
Parent:
19:270735e44c98 
publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 2:17b18ea93551 1 #ifndef Comm_h
amandaghassaei 2:17b18ea93551 2 #define Comm_h
amandaghassaei 2:17b18ea93551 3
amandaghassaei 2:17b18ea93551 4 #include "json.h"
amandaghassaei 5:c3d671959ef3 5 #include "CommDelegate.h"
amandaghassaei 5:c3d671959ef3 6 #include "mbed_rpc.h"
amandaghassaei 2:17b18ea93551 7
amandaghassaei 2:17b18ea93551 8
amandaghassaei 2:17b18ea93551 9 class Comm{
amandaghassaei 2:17b18ea93551 10
amandaghassaei 2:17b18ea93551 11 public:
amandaghassaei 2:17b18ea93551 12
amandaghassaei 9:1d9b24d7ac77 13 Comm(CommDelegate *controls);
amandaghassaei 2:17b18ea93551 14
amandaghassaei 5:c3d671959ef3 15 void openGripper1(Arguments* input, Reply* output);
amandaghassaei 5:c3d671959ef3 16 void closeGripper1(Arguments* input, Reply* output);
amandaghassaei 2:17b18ea93551 17 void printGripper1State(bool state);
amandaghassaei 5:c3d671959ef3 18 void openGripper2(Arguments* input, Reply* output);
amandaghassaei 5:c3d671959ef3 19 void closeGripper2(Arguments* input, Reply* output);
amandaghassaei 2:17b18ea93551 20 void printGripper2State(bool state);
amandaghassaei 2:17b18ea93551 21
amandaghassaei 9:1d9b24d7ac77 22 void setSwingUpK(Arguments* input, Reply* output);
amandaghassaei 9:1d9b24d7ac77 23 void setSwingUpD(Arguments* input, Reply* output);
amandaghassaei 14:d620415259b1 24 void setDesiredThetaP(Arguments* input, Reply* output);
amandaghassaei 19:270735e44c98 25 void setSoftLimitsP(Arguments* input, Reply* output);
amandaghassaei 2:17b18ea93551 26 void printGains();
amandaghassaei 2:17b18ea93551 27
amandaghassaei 17:8a0e647cf551 28 void setTargetingK(Arguments* input, Reply* output);
amandaghassaei 17:8a0e647cf551 29 void setTargetingD(Arguments* input, Reply* output);
amandaghassaei 17:8a0e647cf551 30
amandaghassaei 5:c3d671959ef3 31 void setTarget(Arguments* input, Reply* output);
amandaghassaei 2:17b18ea93551 32 void printTarget();
amandaghassaei 2:17b18ea93551 33
amandaghassaei 11:711d3c207e8c 34 void setTheta(Arguments * input, Reply * output);
amandaghassaei 9:1d9b24d7ac77 35
amandaghassaei 9:1d9b24d7ac77 36 void printPosition();
amandaghassaei 11:711d3c207e8c 37 void printVelocity();
amandaghassaei 2:17b18ea93551 38
amandaghassaei 4:ebb882658c50 39 void check();
amandaghassaei 2:17b18ea93551 40
amandaghassaei 9:1d9b24d7ac77 41 Serial* getPC();
amandaghassaei 2:17b18ea93551 42
amandaghassaei 2:17b18ea93551 43 private:
amandaghassaei 2:17b18ea93551 44
amandaghassaei 9:1d9b24d7ac77 45 Serial _pc;
amandaghassaei 9:1d9b24d7ac77 46
amandaghassaei 5:c3d671959ef3 47 void throwNotEnoughArgsError();
amandaghassaei 4:ebb882658c50 48
amandaghassaei 4:ebb882658c50 49 char buf[256], outbuf[256];
amandaghassaei 2:17b18ea93551 50
amandaghassaei 2:17b18ea93551 51 JSON _json;
amandaghassaei 9:1d9b24d7ac77 52 CommDelegate *_controls;
amandaghassaei 2:17b18ea93551 53 // volatile bool newline_detected = false;
amandaghassaei 2:17b18ea93551 54
amandaghassaei 2:17b18ea93551 55 };
amandaghassaei 2:17b18ea93551 56
amandaghassaei 2:17b18ea93551 57 #endif