Diff: Comm/Comm.h

Revision:

5:c3d671959ef3

Parent:

4:ebb882658c50

Child:

6:12b6be801ad8

--- a/Comm/Comm.h	Thu Dec 03 03:14:00 2015 +0000
+++ b/Comm/Comm.h	Thu Dec 03 04:52:45 2015 +0000
@@ -4,7 +4,8 @@
 //#include "mbed.h"
 #include "json.h"
 #include "Target.h"
-#include "CommDelegate.h"   
+#include "CommDelegate.h"  
+#include "mbed_rpc.h" 
 //#include "MODSERIAL.h"
 
 
@@ -14,17 +15,17 @@
     
         Comm(CommDelegate *gains, CommDelegate *target, CommDelegate *myMPU6050_1);
         
-        void openGripper1();
-        void closeGripper1();
+        void openGripper1(Arguments* input, Reply* output);
+        void closeGripper1(Arguments* input, Reply* output);
         void printGripper1State(bool state);
-        void openGripper2();
-        void closeGripper2();
+        void openGripper2(Arguments* input, Reply* output);
+        void closeGripper2(Arguments* input, Reply* output);
         void printGripper2State(bool state);
         
-        void setGains(float k1, float d1, float k2, float d2);
+        void setGains(Arguments* input, Reply* output);
         void printGains();
         
-        void setTarget(int targetPosition);
+        void setTarget(Arguments* input, Reply* output);
         void printTarget();
         
         void printPosition();
@@ -35,6 +36,7 @@
             
     private:
     
+        void throwNotEnoughArgsError();
         
         char buf[256], outbuf[256];