Diff: main.cpp

Revision:

5:c3d671959ef3

Parent:

4:ebb882658c50

Child:

6:12b6be801ad8

--- a/main.cpp	Thu Dec 03 03:14:00 2015 +0000
+++ b/main.cpp	Thu Dec 03 04:52:45 2015 +0000
@@ -6,33 +6,52 @@
 #include "Target.h"
 
 #include "Comm.h"
-
-void ReadRange(Arguments* input, Reply* output);
-RPCFunction RangeFinder(&ReadRange, "RangeFinder");
+//#include "CommWrapper.h"
 
 Gains gains;
 Target target;
-
 MyMPU6050 myMPU6050_1(p9, p10);//I2C_SDA, I2C_SCL
 
 Comm comm(&gains, &target, &myMPU6050_1);
 
+void openGripper1Wrapper(Arguments * input, Reply * output){
+    comm.openGripper1(input, output);
+};
+RPCFunction OpenGripper1(&openGripper1Wrapper, "OpenGripper1");
+void closeGripper1Wrapper(Arguments * input, Reply * output){
+    comm.closeGripper1(input, output);
+};
+RPCFunction CloseGripper1(&closeGripper1Wrapper, "CloseGripper1");
+void openGripper2Wrapper(Arguments * input, Reply * output){
+    comm.openGripper2(input, output);
+};
+RPCFunction OpenGripper2(&openGripper2Wrapper, "OpenGripper2");
+void closeGripper2Wrapper(Arguments * input, Reply * output){
+    comm.closeGripper2(input, output);
+};
+RPCFunction CloseGripper2(&closeGripper2Wrapper, "CloseGripper2");
+void setGains(Arguments * input, Reply * output){
+    comm.setGains(input, output);
+};
+RPCFunction SetGains(&setGains, "SetGains");
+void setTarget(Arguments * input, Reply * output){
+    comm.setTarget(input, output);
+};
+RPCFunction SetTarget(&setTarget, "SetTarget");
+
+
+
+
 int main() {
     
     while(1) {
         myMPU6050_1.loop();
-//        comm.printTarget();
+        
         comm.check();
+        comm.printPosition();
     }
 }
 
-void ReadRange(Arguments* input, Reply* output){
-    for (int i=0; i < input->argc; i++){
-        comm._pc.printf("argv[%1d] = %s \n",i,input->argv[i]);
-    }
-    
-    comm._pc.printf("serialdjfjsldkj");
-    //Format the output of the srf08 into the output string
-//    sprintf(output, "%f", srf08.read());
-}
+
 
+