bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Comm/Comm.h@4:ebb882658c50, 2015-12-03 (annotated)
- Committer:
- amandaghassaei
- Date:
- Thu Dec 03 03:14:00 2015 +0000
- Revision:
- 4:ebb882658c50
- Parent:
- 2:17b18ea93551
- Child:
- 5:c3d671959ef3
added pc back to comm object;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
amandaghassaei | 2:17b18ea93551 | 1 | #ifndef Comm_h |
amandaghassaei | 2:17b18ea93551 | 2 | #define Comm_h |
amandaghassaei | 2:17b18ea93551 | 3 | |
amandaghassaei | 2:17b18ea93551 | 4 | //#include "mbed.h" |
amandaghassaei | 2:17b18ea93551 | 5 | #include "json.h" |
amandaghassaei | 2:17b18ea93551 | 6 | #include "Target.h" |
amandaghassaei | 2:17b18ea93551 | 7 | #include "CommDelegate.h" |
amandaghassaei | 2:17b18ea93551 | 8 | //#include "MODSERIAL.h" |
amandaghassaei | 2:17b18ea93551 | 9 | |
amandaghassaei | 2:17b18ea93551 | 10 | |
amandaghassaei | 2:17b18ea93551 | 11 | class Comm{ |
amandaghassaei | 2:17b18ea93551 | 12 | |
amandaghassaei | 2:17b18ea93551 | 13 | public: |
amandaghassaei | 2:17b18ea93551 | 14 | |
amandaghassaei | 2:17b18ea93551 | 15 | Comm(CommDelegate *gains, CommDelegate *target, CommDelegate *myMPU6050_1); |
amandaghassaei | 2:17b18ea93551 | 16 | |
amandaghassaei | 2:17b18ea93551 | 17 | void openGripper1(); |
amandaghassaei | 2:17b18ea93551 | 18 | void closeGripper1(); |
amandaghassaei | 2:17b18ea93551 | 19 | void printGripper1State(bool state); |
amandaghassaei | 2:17b18ea93551 | 20 | void openGripper2(); |
amandaghassaei | 2:17b18ea93551 | 21 | void closeGripper2(); |
amandaghassaei | 2:17b18ea93551 | 22 | void printGripper2State(bool state); |
amandaghassaei | 2:17b18ea93551 | 23 | |
amandaghassaei | 2:17b18ea93551 | 24 | void setGains(float k1, float d1, float k2, float d2); |
amandaghassaei | 2:17b18ea93551 | 25 | void printGains(); |
amandaghassaei | 2:17b18ea93551 | 26 | |
amandaghassaei | 2:17b18ea93551 | 27 | void setTarget(int targetPosition); |
amandaghassaei | 2:17b18ea93551 | 28 | void printTarget(); |
amandaghassaei | 2:17b18ea93551 | 29 | |
amandaghassaei | 2:17b18ea93551 | 30 | void printPosition(); |
amandaghassaei | 2:17b18ea93551 | 31 | |
amandaghassaei | 4:ebb882658c50 | 32 | void check(); |
amandaghassaei | 2:17b18ea93551 | 33 | |
amandaghassaei | 4:ebb882658c50 | 34 | Serial _pc; |
amandaghassaei | 2:17b18ea93551 | 35 | |
amandaghassaei | 2:17b18ea93551 | 36 | private: |
amandaghassaei | 2:17b18ea93551 | 37 | |
amandaghassaei | 4:ebb882658c50 | 38 | |
amandaghassaei | 4:ebb882658c50 | 39 | char buf[256], outbuf[256]; |
amandaghassaei | 2:17b18ea93551 | 40 | |
amandaghassaei | 2:17b18ea93551 | 41 | JSON _json; |
amandaghassaei | 2:17b18ea93551 | 42 | CommDelegate *_gains; |
amandaghassaei | 2:17b18ea93551 | 43 | CommDelegate *_target; |
amandaghassaei | 2:17b18ea93551 | 44 | CommDelegate *_myMPU6050_1; |
amandaghassaei | 2:17b18ea93551 | 45 | // volatile bool newline_detected = false; |
amandaghassaei | 2:17b18ea93551 | 46 | |
amandaghassaei | 2:17b18ea93551 | 47 | }; |
amandaghassaei | 2:17b18ea93551 | 48 | |
amandaghassaei | 2:17b18ea93551 | 49 | #endif |