bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: main.cpp
- Revision:
- 10:769cc457c3a4
- Parent:
- 9:1d9b24d7ac77
- Child:
- 11:711d3c207e8c
--- a/main.cpp Sat Dec 05 00:40:42 2015 +0000 +++ b/main.cpp Sat Dec 05 09:04:23 2015 +0000 @@ -9,23 +9,33 @@ long serialCounter = 0; +Ticker controlsInterrupt; + int main() { controls.setPC(comm.getPC()); + controls.setup(); // comm.printPosition(); // comm.printGains(); + + controlsInterrupt.attach_us(&controls, &Controls::loop, 1000); + while(1) { - controls.loop(); + controls.updateIMUS(); comm.check(); - if (serialCounter++>100) { -// comm.printPosition(); -// controls.printPWM(); + if (serialCounter++>1000000) { +// comm.getPC()->printf("%f\n", controls.getTheta1()); +// comm.getPC()->printf("%f", controls.motor.getPWM()); serialCounter = 0; +// comm.getPC()->printf("%f\n", controls.motor.getTorque()); } } } + + + //wrappers for comm stack void openGripper1Wrapper(Arguments * input, Reply * output){ comm.openGripper1(input, output); @@ -51,6 +61,14 @@ comm.setSwingUpD(input, output); }; RPCFunction SetSwingUpD(&setSwingUpDWrapper, "SetSwingUpD"); +void setCurrentPWrapper(Arguments * input, Reply * output){ + comm.setCurrentP(input, output); +}; +RPCFunction SetCurrentP(&setCurrentPWrapper, "SetCurrentP"); +void setCurrentDWrapper(Arguments * input, Reply * output){ + comm.setCurrentD(input, output); +}; +RPCFunction SetCurrentD(&setCurrentDWrapper, "SetCurrentD"); void setTargetWrapper(Arguments * input, Reply * output){ comm.setTarget(input, output); }; @@ -59,8 +77,17 @@ comm.setTorque(input, output); }; RPCFunction SetTorque(&setTorqueWrapper, "SetTorque"); +void printGainsWrapper(Arguments * input, Reply * output){ + comm.printGains(); +}; +RPCFunction PrintGains(&printGainsWrapper, "PrintGains"); +void printPositionWrapper(Arguments * input, Reply * output){ + comm.printPosition(); +}; +RPCFunction PrintPosition(&printPositionWrapper, "PrintPosition"); +