bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Comm/Comm.cpp
- Revision:
- 19:270735e44c98
- Parent:
- 17:8a0e647cf551
--- a/Comm/Comm.cpp Fri Dec 11 06:16:33 2015 +0000 +++ b/Comm/Comm.cpp Fri Dec 11 08:53:08 2015 +0000 @@ -88,6 +88,17 @@ printGains(); } +void Comm::setSoftLimitsP(Arguments* input, Reply* output){ + if (input->argc < 1){ + throwNotEnoughArgsError(); + return; + } + float p = input->getArg<float>(); + _controls->setSoftLimitsP(p); + printGains(); +} + + void Comm::printGains(){ _json.open(); @@ -97,6 +108,8 @@ _json.sepItem(); _json.print("desiredThetaP", _controls->getDesiredThetaP()); _json.sepItem(); + _json.print("softLimitsP", _controls->getSoftLimitsP()); + _json.sepItem(); _json.print("targetingK", _controls->getTargetingK()); _json.sepItem(); _json.print("targetingD", _controls->getTargetingD());