int main() { controls.setPC(comm.getPC()); controls.setup(); // comm.printPosition(); comm.printGains(); controlsInterrupt.attach_us(&controls, &Controls::loop, 1000); while(1) { controls.updateIMUS(); comm.check(); if (serialCounter++>100) { // comm.printPosition(); // comm.getPC()->printf("%f\n", controls.getTheta1()); // comm.getPC()->printf("%f", controls.motor.getPWM()); serialCounter = 0; // float z[4] = {1,2,0,0}; // comm.getPC()->printf("%f\n",controls.target.getTheta2ForTarget(z)); } } }
void printGainsWrapper(Arguments * input, Reply * output){ comm.printGains(); };