Diff: Comm/Comm.cpp

Revision:

2:17b18ea93551

Child:

4:ebb882658c50

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Comm/Comm.cpp	Thu Dec 03 02:23:34 2015 +0000
@@ -0,0 +1,87 @@
+#include "Comm.h"
+
+    
+Comm::Comm(CommDelegate *gains, CommDelegate *target, CommDelegate *myMPU6050_1):_json(_pc)//_pc(USBTX, USBRX)
+{
+//    _pc.baud(115200);
+    _gains = gains;
+    _target = target;
+    _myMPU6050_1 = myMPU6050_1;
+}
+
+void Comm::openGripper1(){
+    printGripper1State(true);
+}
+
+void Comm::closeGripper1(){
+    printGripper1State(false);
+}
+
+void Comm::printGripper1State(bool state){
+    _json.open();
+    if (state) _json.print("gripper1", "true");
+    else _json.print("gripper1", "false");
+    _json.close();
+}
+
+void Comm::openGripper2(){
+    printGripper2State(true);
+}
+
+void Comm::closeGripper2(){
+    printGripper2State(false);
+}
+
+void Comm::printGripper2State(bool state){
+    _json.open();
+    if (state) _json.print("gripper2", "true");
+    else _json.print("gripper2", "false");
+    _json.close();
+}
+
+void Comm::setGains(float k1, float d1, float k2, float d2){
+    _gains->setGains(k1, d1, k2, d2);
+}
+
+void Comm::printGains(){
+    _json.open();
+    _json.print("k1", _gains->getK1());
+    _json.sepItem();
+    _json.print("d1", _gains->getD1());
+    _json.sepItem();
+    _json.print("k2", _gains->getK2());
+    _json.sepItem();
+    _json.print("d2", _gains->getD1());
+    _json.close();
+}
+
+void Comm::setTarget(int targetPosition){
+    _target->setPosition(targetPosition);
+}
+
+void Comm::printTarget(){
+    _json.open();
+    _json.print("target", _target->getPosition());
+    _json.close();
+}
+
+void Comm::printPosition(){
+    _json.open();
+    _json.print("th1", _myMPU6050_1->getTheta());
+    _json.sepItem();
+    _json.print("dth1", _myMPU6050_1->getDtheta());
+    _json.close();
+}
+
+//void Comm::check(){
+//    if (newline_detected){
+//        printTarget();
+//    }
+//}
+//
+//void rxCallback(MODSERIAL_IRQ_INFO *q) {
+//    MODSERIAL *serial = q->serial;
+//    if ( serial->rxGetLastChar() == '\n') {
+//        newline_detected = true;
+//    }
+//}