bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Comm/Comm.h
- Revision:
- 9:1d9b24d7ac77
- Parent:
- 8:1a3a69fecedf
- Child:
- 10:769cc457c3a4
diff -r 1a3a69fecedf -r 1d9b24d7ac77 Comm/Comm.h --- a/Comm/Comm.h Thu Dec 03 23:55:44 2015 +0000 +++ b/Comm/Comm.h Sat Dec 05 00:40:42 2015 +0000 @@ -10,7 +10,7 @@ public: - Comm(CommDelegate *gains, CommDelegate *target); + Comm(CommDelegate *controls); void openGripper1(Arguments* input, Reply* output); void closeGripper1(Arguments* input, Reply* output); @@ -19,27 +19,31 @@ void closeGripper2(Arguments* input, Reply* output); void printGripper2State(bool state); - void setGains(Arguments* input, Reply* output); + void setSwingUpK(Arguments* input, Reply* output); + void setSwingUpD(Arguments* input, Reply* output); void printGains(); void setTarget(Arguments* input, Reply* output); void printTarget(); - void printPosition(CommDelegate *controls); + void setTorque(Arguments * input, Reply * output); + + void printPosition(); void check(); - Serial _pc; + Serial* getPC(); private: + Serial _pc; + void throwNotEnoughArgsError(); char buf[256], outbuf[256]; JSON _json; - CommDelegate *_gains; - CommDelegate *_target; + CommDelegate *_controls; // volatile bool newline_detected = false; };