Diff: Comm/Comm.h

Revision:

9:1d9b24d7ac77

Parent:

8:1a3a69fecedf

Child:

10:769cc457c3a4

--- a/Comm/Comm.h	Thu Dec 03 23:55:44 2015 +0000
+++ b/Comm/Comm.h	Sat Dec 05 00:40:42 2015 +0000
@@ -10,7 +10,7 @@
     
     public:
     
-        Comm(CommDelegate *gains, CommDelegate *target);
+        Comm(CommDelegate *controls);
         
         void openGripper1(Arguments* input, Reply* output);
         void closeGripper1(Arguments* input, Reply* output);
@@ -19,27 +19,31 @@
         void closeGripper2(Arguments* input, Reply* output);
         void printGripper2State(bool state);
         
-        void setGains(Arguments* input, Reply* output);
+        void setSwingUpK(Arguments* input, Reply* output);
+        void setSwingUpD(Arguments* input, Reply* output);
         void printGains();
         
         void setTarget(Arguments* input, Reply* output);
         void printTarget();
         
-        void printPosition(CommDelegate *controls);
+        void setTorque(Arguments * input, Reply * output);
+        
+        void printPosition();
         
         void check();
         
-        Serial _pc;
+        Serial* getPC();
             
     private:
     
+        Serial _pc;
+    
         void throwNotEnoughArgsError();
         
         char buf[256], outbuf[256];
         
         JSON _json;
-        CommDelegate *_gains;
-        CommDelegate *_target;
+        CommDelegate *_controls;
 //        volatile bool newline_detected = false;
  
 };