gistfile1.txt

/**
 * @file MyServer.h
 * @brief MyServer for the RBE3001 robotic arm
 *
 * @section RBE3001 - Nucleo Firmware - MyServer
 *
 */

#ifndef RBE3001_MyServer
#define RBE3001_MyServer

#include <PID_Bowler.h>
#include <PacketEvent.h>
#include "../drivers/MyPid.h"
#include <cmath>              // needed for std::abs

#define MyServer_ID 1      // identifier for this server

/**
 *  @brief Class that receives setpoints through HID and sends them to
 *         the PID controller. Extends the `PacketEventAbstract' class.
 */
class PidServer: public PacketEventAbstract
{
 private:
  PIDimp ** myPidObjects;    // array of PidServers - one for each joint
  int myPumberOfPidChannels;

 public:
  PidServer (PIDimp ** pidObjects, int numberOfPidChannels)
    : PacketEventAbstract(PID_SERVER_ID)
  {
    myPidObjects = pidObjects;
    myPumberOfPidChannels = numberOfPidChannels;
  }

  // This method is called every time a packet from MATLAB is received
  // via HID
  void event(float * buffer);
};

#endif /* end of include guard: RBE3001_MyServer */