bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
main.cpp@3:be5cf450436d, 2015-12-03 (annotated)
- Committer:
- amandaghassaei
- Date:
- Thu Dec 03 03:01:37 2015 +0000
- Revision:
- 3:be5cf450436d
- Parent:
- 2:17b18ea93551
- Child:
- 4:ebb882658c50
starting to add in rpc;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
amandaghassaei | 3:be5cf450436d | 1 | #include "mbed.h" |
amandaghassaei | 3:be5cf450436d | 2 | #include "mbed_rpc.h" |
syundo0730 | 0:8d2c753a96e7 | 3 | |
amandaghassaei | 2:17b18ea93551 | 4 | #include "MyMPU6050.h" |
amandaghassaei | 2:17b18ea93551 | 5 | #include "Gains.h" |
amandaghassaei | 2:17b18ea93551 | 6 | #include "Target.h" |
syundo0730 | 0:8d2c753a96e7 | 7 | |
amandaghassaei | 2:17b18ea93551 | 8 | #include "Comm.h" |
syundo0730 | 0:8d2c753a96e7 | 9 | |
amandaghassaei | 3:be5cf450436d | 10 | void ReadRange(Arguments* input, Reply* output); |
amandaghassaei | 3:be5cf450436d | 11 | RPCFunction RangeFinder(&ReadRange, "RangeFinder"); |
amandaghassaei | 3:be5cf450436d | 12 | |
amandaghassaei | 3:be5cf450436d | 13 | Serial pc(USBTX, USBRX); |
syundo0730 | 0:8d2c753a96e7 | 14 | |
amandaghassaei | 2:17b18ea93551 | 15 | Gains gains; |
amandaghassaei | 2:17b18ea93551 | 16 | Target target; |
syundo0730 | 0:8d2c753a96e7 | 17 | |
amandaghassaei | 2:17b18ea93551 | 18 | MyMPU6050 myMPU6050_1(p9, p10);//I2C_SDA, I2C_SCL |
syundo0730 | 0:8d2c753a96e7 | 19 | |
amandaghassaei | 2:17b18ea93551 | 20 | Comm comm(&gains, &target, &myMPU6050_1); |
syundo0730 | 0:8d2c753a96e7 | 21 | |
syundo0730 | 0:8d2c753a96e7 | 22 | int main() { |
amandaghassaei | 3:be5cf450436d | 23 | char buf[256], outbuf[256]; |
syundo0730 | 0:8d2c753a96e7 | 24 | while(1) { |
amandaghassaei | 2:17b18ea93551 | 25 | myMPU6050_1.loop(); |
amandaghassaei | 2:17b18ea93551 | 26 | // comm.printTarget(); |
amandaghassaei | 3:be5cf450436d | 27 | |
amandaghassaei | 3:be5cf450436d | 28 | pc.gets(buf, 256); |
amandaghassaei | 3:be5cf450436d | 29 | //Call the static call method on the RPC class |
amandaghassaei | 3:be5cf450436d | 30 | RPC::call(buf, outbuf); |
amandaghassaei | 3:be5cf450436d | 31 | pc.printf("%s\n", outbuf); |
syundo0730 | 0:8d2c753a96e7 | 32 | } |
syundo0730 | 0:8d2c753a96e7 | 33 | } |
syundo0730 | 0:8d2c753a96e7 | 34 | |
amandaghassaei | 3:be5cf450436d | 35 | void ReadRange(Arguments* input, Reply* output){ |
amandaghassaei | 3:be5cf450436d | 36 | for (int i=0; i < input->argc; i++){ |
amandaghassaei | 3:be5cf450436d | 37 | pc.printf("argv[%1d] = %s \n",i,input->argv[i]); |
amandaghassaei | 3:be5cf450436d | 38 | } |
amandaghassaei | 3:be5cf450436d | 39 | |
amandaghassaei | 3:be5cf450436d | 40 | pc.printf("amandaasdffasdfads"); |
amandaghassaei | 3:be5cf450436d | 41 | //Format the output of the srf08 into the output string |
amandaghassaei | 3:be5cf450436d | 42 | // sprintf(output, "%f", srf08.read()); |
amandaghassaei | 3:be5cf450436d | 43 | } |
syundo0730 | 0:8d2c753a96e7 | 44 |