bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: main.cpp
- Revision:
- 9:1d9b24d7ac77
- Parent:
- 8:1a3a69fecedf
- Child:
- 10:769cc457c3a4
diff -r 1a3a69fecedf -r 1d9b24d7ac77 main.cpp --- a/main.cpp Thu Dec 03 23:55:44 2015 +0000 +++ b/main.cpp Sat Dec 05 00:40:42 2015 +0000 @@ -4,14 +4,24 @@ #include "Controls.h" Controls controls; -Comm comm(&(controls.gains), &(controls.target)); +Comm comm(&controls); + +long serialCounter = 0; + + int main() { - + controls.setPC(comm.getPC()); +// comm.printPosition(); +// comm.printGains(); while(1) { controls.loop(); comm.check(); - comm.printPosition(&controls); + if (serialCounter++>100) { +// comm.printPosition(); +// controls.printPWM(); + serialCounter = 0; + } } } @@ -33,14 +43,22 @@ comm.closeGripper2(input, output); }; RPCFunction CloseGripper2(&closeGripper2Wrapper, "CloseGripper2"); -void setGains(Arguments * input, Reply * output){ - comm.setGains(input, output); +void setSwingUpKWrapper(Arguments * input, Reply * output){ + comm.setSwingUpK(input, output); }; -RPCFunction SetGains(&setGains, "SetGains"); -void setTarget(Arguments * input, Reply * output){ +RPCFunction SetSwingUpK(&setSwingUpKWrapper, "SetSwingUpK"); +void setSwingUpDWrapper(Arguments * input, Reply * output){ + comm.setSwingUpD(input, output); +}; +RPCFunction SetSwingUpD(&setSwingUpDWrapper, "SetSwingUpD"); +void setTargetWrapper(Arguments * input, Reply * output){ comm.setTarget(input, output); }; -RPCFunction SetTarget(&setTarget, "SetTarget"); +RPCFunction SetTarget(&setTargetWrapper, "SetTarget"); +void setTorqueWrapper(Arguments * input, Reply * output){ + comm.setTorque(input, output); +}; +RPCFunction SetTorque(&setTorqueWrapper, "SetTorque");