Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

Fork of MPU6050_Example by Shundo Kishi

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());