Diff: main.cpp

Revision:

11:711d3c207e8c

Parent:

10:769cc457c3a4

Child:

12:49813131dd15

--- a/main.cpp	Sat Dec 05 09:04:23 2015 +0000
+++ b/main.cpp	Tue Dec 08 22:52:46 2015 +0000
@@ -16,18 +16,20 @@
     controls.setPC(comm.getPC());
     controls.setup();
 //    comm.printPosition();
-//    comm.printGains();
+    comm.printGains();
 
     controlsInterrupt.attach_us(&controls, &Controls::loop, 1000);
 
     while(1) {
         controls.updateIMUS();
         comm.check();
-        if (serialCounter++>1000000) {
+        
+        if (serialCounter++>100) {
+//            comm.printPosition();
 //            comm.getPC()->printf("%f\n", controls.getTheta1());
 //            comm.getPC()->printf("%f", controls.motor.getPWM());
             serialCounter = 0;
-//            comm.getPC()->printf("%f\n", controls.motor.getTorque());
+//            comm.printPosition();
         }
     }
 }
@@ -73,10 +75,10 @@
     comm.setTarget(input, output);
 };
 RPCFunction SetTarget(&setTargetWrapper, "SetTarget");
-void setTorqueWrapper(Arguments * input, Reply * output){
-    comm.setTorque(input, output);
+void setThetaWrapper(Arguments * input, Reply * output){
+    comm.setTheta(input, output);
 };
-RPCFunction SetTorque(&setTorqueWrapper, "SetTorque");
+RPCFunction SetTheta(&setThetaWrapper, "SetTheta");
 void printGainsWrapper(Arguments * input, Reply * output){
     comm.printGains();
 };