Diff: Comm/Comm.h

Revision:

2:17b18ea93551

Child:

4:ebb882658c50

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Comm/Comm.h	Thu Dec 03 02:23:34 2015 +0000
@@ -0,0 +1,47 @@
+#ifndef Comm_h
+#define Comm_h
+
+//#include "mbed.h"
+#include "json.h"
+#include "Target.h"
+#include "CommDelegate.h"   
+//#include "MODSERIAL.h"
+
+
+class Comm{
+    
+    public:
+    
+        Comm(CommDelegate *gains, CommDelegate *target, CommDelegate *myMPU6050_1);
+        
+        void openGripper1();
+        void closeGripper1();
+        void printGripper1State(bool state);
+        void openGripper2();
+        void closeGripper2();
+        void printGripper2State(bool state);
+        
+        void setGains(float k1, float d1, float k2, float d2);
+        void printGains();
+        
+        void setTarget(int targetPosition);
+        void printTarget();
+        
+        void printPosition();
+        
+//        void check();
+        
+            
+    private:
+    
+        Serial *_pc;
+        
+        JSON _json;
+        CommDelegate *_gains;
+        CommDelegate *_target;
+        CommDelegate *_myMPU6050_1;
+//        volatile bool newline_detected = false;
+ 
+};
+
+#endif
\ No newline at end of file