Diff: main.cpp

Revision:

9:1d9b24d7ac77

Parent:

8:1a3a69fecedf

Child:

10:769cc457c3a4

--- a/main.cpp	Thu Dec 03 23:55:44 2015 +0000
+++ b/main.cpp	Sat Dec 05 00:40:42 2015 +0000
@@ -4,14 +4,24 @@
 #include "Controls.h"
 
 Controls controls;
-Comm comm(&(controls.gains), &(controls.target));
+Comm comm(&controls);
+
+long serialCounter = 0;
+
+
 
 int main() {
-    
+    controls.setPC(comm.getPC());
+//    comm.printPosition();
+//    comm.printGains();
     while(1) {
         controls.loop();
         comm.check();
-        comm.printPosition(&controls);
+        if (serialCounter++>100) {
+//            comm.printPosition();
+//            controls.printPWM();
+            serialCounter = 0;
+        }
     }
 }
 
@@ -33,14 +43,22 @@
     comm.closeGripper2(input, output);
 };
 RPCFunction CloseGripper2(&closeGripper2Wrapper, "CloseGripper2");
-void setGains(Arguments * input, Reply * output){
-    comm.setGains(input, output);
+void setSwingUpKWrapper(Arguments * input, Reply * output){
+    comm.setSwingUpK(input, output);
 };
-RPCFunction SetGains(&setGains, "SetGains");
-void setTarget(Arguments * input, Reply * output){
+RPCFunction SetSwingUpK(&setSwingUpKWrapper, "SetSwingUpK");
+void setSwingUpDWrapper(Arguments * input, Reply * output){
+    comm.setSwingUpD(input, output);
+};
+RPCFunction SetSwingUpD(&setSwingUpDWrapper, "SetSwingUpD");
+void setTargetWrapper(Arguments * input, Reply * output){
     comm.setTarget(input, output);
 };
-RPCFunction SetTarget(&setTarget, "SetTarget");
+RPCFunction SetTarget(&setTargetWrapper, "SetTarget");
+void setTorqueWrapper(Arguments * input, Reply * output){
+    comm.setTorque(input, output);
+};
+RPCFunction SetTorque(&setTorqueWrapper, "SetTorque");