bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Comm/Comm.cpp
- Revision:
- 2:17b18ea93551
- Child:
- 4:ebb882658c50
diff -r ec0a08108442 -r 17b18ea93551 Comm/Comm.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Comm/Comm.cpp Thu Dec 03 02:23:34 2015 +0000 @@ -0,0 +1,87 @@ +#include "Comm.h" + + +Comm::Comm(CommDelegate *gains, CommDelegate *target, CommDelegate *myMPU6050_1):_json(_pc)//_pc(USBTX, USBRX) +{ +// _pc.baud(115200); + _gains = gains; + _target = target; + _myMPU6050_1 = myMPU6050_1; +} + +void Comm::openGripper1(){ + printGripper1State(true); +} + +void Comm::closeGripper1(){ + printGripper1State(false); +} + +void Comm::printGripper1State(bool state){ + _json.open(); + if (state) _json.print("gripper1", "true"); + else _json.print("gripper1", "false"); + _json.close(); +} + +void Comm::openGripper2(){ + printGripper2State(true); +} + +void Comm::closeGripper2(){ + printGripper2State(false); +} + +void Comm::printGripper2State(bool state){ + _json.open(); + if (state) _json.print("gripper2", "true"); + else _json.print("gripper2", "false"); + _json.close(); +} + +void Comm::setGains(float k1, float d1, float k2, float d2){ + _gains->setGains(k1, d1, k2, d2); +} + +void Comm::printGains(){ + _json.open(); + _json.print("k1", _gains->getK1()); + _json.sepItem(); + _json.print("d1", _gains->getD1()); + _json.sepItem(); + _json.print("k2", _gains->getK2()); + _json.sepItem(); + _json.print("d2", _gains->getD1()); + _json.close(); +} + +void Comm::setTarget(int targetPosition){ + _target->setPosition(targetPosition); +} + +void Comm::printTarget(){ + _json.open(); + _json.print("target", _target->getPosition()); + _json.close(); +} + +void Comm::printPosition(){ + _json.open(); + _json.print("th1", _myMPU6050_1->getTheta()); + _json.sepItem(); + _json.print("dth1", _myMPU6050_1->getDtheta()); + _json.close(); +} + +//void Comm::check(){ +// if (newline_detected){ +// printTarget(); +// } +//} +// +//void rxCallback(MODSERIAL_IRQ_INFO *q) { +// MODSERIAL *serial = q->serial; +// if ( serial->rxGetLastChar() == '\n') { +// newline_detected = true; +// } +//}