bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
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()); -} + +