bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
main.cpp
- Committer:
- amandaghassaei
- Date:
- 2015-12-11
- Revision:
- 17:8a0e647cf551
- Parent:
- 14:d620415259b1
- Child:
- 18:0cfe72d8a006
File content as of revision 17:8a0e647cf551:
#include "mbed.h" #include "mbed_rpc.h" #include "Comm.h" #include "Controls.h" Controls controls; Comm comm(&controls); long serialCounter = 0; Ticker controlsInterrupt; int main() { controls.setPC(comm.getPC()); controls.setup(); // comm.printPosition(); comm.printGains(); controlsInterrupt.attach_us(&controls, &Controls::loop, 1000); while(1) { controls.updateIMUS(); comm.check(); if (serialCounter++>100) { // comm.printPosition(); // comm.getPC()->printf("%f\n", controls.getTheta1()); // comm.getPC()->printf("%f", controls.motor.getPWM()); serialCounter = 0; // float z[4] = {1,2,0,0}; // comm.getPC()->printf("%f\n",controls.target.getTheta2ForTarget(z)); } } } //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 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(); }; RPCFunction PrintGains(&printGainsWrapper, "PrintGains"); void printPositionWrapper(Arguments * input, Reply * output){ comm.printPosition(); }; RPCFunction PrintPosition(&printPositionWrapper, "PrintPosition");