Diff: Comm/Comm.cpp

Revision:

11:711d3c207e8c

Parent:

10:769cc457c3a4

Child:

14:d620415259b1

--- a/Comm/Comm.cpp	Sat Dec 05 09:04:23 2015 +0000
+++ b/Comm/Comm.cpp	Tue Dec 08 22:52:46 2015 +0000
@@ -3,7 +3,7 @@
     
 Comm::Comm(CommDelegate *controls):_pc(USBTX, USBRX), _json(&_pc)
 {
-    _pc.baud(9600);
+    _pc.baud(115200);
     _controls = controls;
 }
 
@@ -106,14 +106,14 @@
     _json.close();
 }
 
-void Comm::setTorque(Arguments * input, Reply * output){
+void Comm::setTheta(Arguments * input, Reply * output){
     if (input->argc < 1){
         throwNotEnoughArgsError();
         return;
     }
-    float torque = input->getArg<float>(); 
-    _pc.printf("%f\n", torque);
-    _controls->setTorque(torque);
+    float theta = input->getArg<float>(); 
+    _pc.printf("%f\n", theta);
+    _controls->setTheta(theta);
 }
 
 void Comm::printPosition(){
@@ -128,6 +128,14 @@
     _json.close();
 }
 
+void Comm::printVelocity(){
+        _json.open();
+    _json.print("dth1", _controls->getDTheta1());
+    _json.sepItem();
+    _json.print("dth2", _controls->getDTheta2());
+    _json.close();
+}
+
 void Comm::check(){
     if(!_pc.readable()) return;
     _pc.gets(buf, 256);