Diff: main.cpp

Revision:

17:8a0e647cf551

Parent:

14:d620415259b1

Child:

18:0cfe72d8a006

--- a/main.cpp	Thu Dec 10 10:55:35 2015 +0000
+++ b/main.cpp	Fri Dec 11 00:44:45 2015 +0000
@@ -48,6 +48,8 @@
     comm.closeGripper1(input, output);
 };
 RPCFunction CloseGripper1(&closeGripper1Wrapper, "CloseGripper1");
+
+
 void openGripper2Wrapper(Arguments * input, Reply * output){
     comm.openGripper2(input, output);
 };
@@ -56,6 +58,8 @@
     comm.closeGripper2(input, output);
 };
 RPCFunction CloseGripper2(&closeGripper2Wrapper, "CloseGripper2");
+
+
 void setSwingUpKWrapper(Arguments * input, Reply * output){
     comm.setSwingUpK(input, output);
 };
@@ -64,18 +68,37 @@
     comm.setSwingUpD(input, output);
 };
 RPCFunction SetSwingUpD(&setSwingUpDWrapper, "SetSwingUpD");
+
+
 void setDesiredThetaPWrapper(Arguments * input, Reply * output){
     comm.setDesiredThetaP(input, output);
 };
 RPCFunction SetDesiredThetaP(&setDesiredThetaPWrapper, "SetDesiredThetaP");
+
+
 void setTargetWrapper(Arguments * input, Reply * output){
     comm.setTarget(input, output);
 };
 RPCFunction SetTarget(&setTargetWrapper, "SetTarget");
+
+void setTargetingKWrapper(Arguments * input, Reply * output){
+    comm.setTargetingK(input, output);
+};
+RPCFunction SetTargetingK(&setTargetingKWrapper, "SetTargetingK");
+void setTargetingDWrapper(Arguments * input, Reply * output){
+    comm.setTargetingD(input, output);
+};
+RPCFunction SetTargetingD(&setTargetingDWrapper, "SetTargetingD");
+
+
+
+
 void setThetaWrapper(Arguments * input, Reply * output){
     comm.setTheta(input, output);
 };
 RPCFunction SetTheta(&setThetaWrapper, "SetTheta");
+
+
 void printGainsWrapper(Arguments * input, Reply * output){
     comm.printGains();
 };