bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Comm/Comm.cpp
- Revision:
- 10:769cc457c3a4
- Parent:
- 9:1d9b24d7ac77
- Child:
- 11:711d3c207e8c
--- a/Comm/Comm.cpp Sat Dec 05 00:40:42 2015 +0000 +++ b/Comm/Comm.cpp Sat Dec 05 09:04:23 2015 +0000 @@ -3,7 +3,7 @@ Comm::Comm(CommDelegate *controls):_pc(USBTX, USBRX), _json(&_pc) { - _pc.baud(115200); + _pc.baud(9600); _controls = controls; } @@ -56,6 +56,27 @@ _controls->setSwingUpD(d); printGains(); } +void Comm::setCurrentP(Arguments* input, Reply* output){ + if (input->argc < 1){ + throwNotEnoughArgsError(); + return; + } + float p = input->getArg<float>(); + _controls->setCurrentP(p); + printGains(); +} + +void Comm::setCurrentD(Arguments* input, Reply* output){ + if (input->argc < 1){ + throwNotEnoughArgsError(); + return; + } + float d = input->getArg<float>(); + _controls->setCurrentD(d); + printGains(); +} + + void Comm::printGains(){ _json.open(); @@ -63,9 +84,9 @@ _json.sepItem(); _json.print("swingUpD", _controls->getSwingUpD()); _json.sepItem(); - _json.print("k2", _controls->getK2()); + _json.print("currentP", _controls->getCurrentP()); _json.sepItem(); - _json.print("d2", _controls->getD2()); + _json.print("currentD", _controls->getCurrentD()); _json.close(); } @@ -90,8 +111,8 @@ throwNotEnoughArgsError(); return; } - float torque = atof(input->argv[0]); -// _pc.printf("%f", torque); + float torque = input->getArg<float>(); + _pc.printf("%f\n", torque); _controls->setTorque(torque); } @@ -103,7 +124,7 @@ // _json.sepItem(); _json.print("th2", _controls->getTheta2()); // _json.sepItem(); -// _json.print("dth2", controls->getDTheta2()); +// _json.print("dth2", _controls->getDTheta2()); _json.close(); }