File content as of revision 9:1d9b24d7ac77:

#include "mbed.h"
#include "mbed_rpc.h" 
#include "Comm.h"
#include "Controls.h"

Controls controls;
Comm comm(&controls);

long serialCounter = 0;



int main() {
    controls.setPC(comm.getPC());
//    comm.printPosition();
//    comm.printGains();
    while(1) {
        controls.loop();
        comm.check();
        if (serialCounter++>100) {
//            comm.printPosition();
//            controls.printPWM();
            serialCounter = 0;
        }
    }
}


//wrappers for comm stack
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 setSwingUpKWrapper(Arguments * input, Reply * output){
    comm.setSwingUpK(input, output);
};
RPCFunction SetSwingUpK(&setSwingUpKWrapper, "SetSwingUpK");
void setSwingUpDWrapper(Arguments * input, Reply * output){
    comm.setSwingUpD(input, output);
};
RPCFunction SetSwingUpD(&setSwingUpDWrapper, "SetSwingUpD");
void setTargetWrapper(Arguments * input, Reply * output){
    comm.setTarget(input, output);
};
RPCFunction SetTarget(&setTargetWrapper, "SetTarget");
void setTorqueWrapper(Arguments * input, Reply * output){
    comm.setTorque(input, output);
};
RPCFunction SetTorque(&setTorqueWrapper, "SetTorque");