Diff: Stabilizer.h

Revision:

0:59d3683c6d99

Child:

2:0ba602e6fc75

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Stabilizer.h	Wed Dec 23 11:17:22 2015 +0000
@@ -0,0 +1,76 @@
+#include "Kinematic.h"
+
+class Stabilizer
+{
+private:
+    //PID
+    float zeta_set;
+    float error;
+
+    float integral;
+    float derivative;
+
+    float previous_error;
+    float current_zeta;
+    float Body_Lenght;
+
+    float output;
+
+    float delta_h;
+    float New_Height;
+
+    float KP;
+    float KI;
+    float KD;
+
+    float Offset_Y,Offset_Z;
+
+    Kinematic *Leg_Left, *Leg_Right;
+    //Leg_Right;
+
+public:
+    Stabilizer();
+    //Stabilizer(float); //Body_Lenght
+    Stabilizer(float,float); //init offset axis Y & Z
+
+    void Init_Stabilizer(float,float);
+
+    void set_KP(float);
+    void set_KI(float);
+    void set_KD(float);
+
+    float PID();
+    //void ZetaErrorCalculation();
+
+    void set_current_zeta(float);
+    void set_Body_Lenght(float);
+    void set_New_Height(float);
+    void set_zeta_set(float);
+
+    void set_Offset_Y(float);
+    void set_Offset_Z(float);
+
+    float get_current_zeta() {
+        return current_zeta;
+    }
+    float get_set_zeta() {
+        return zeta_set;
+    }
+    float get_Body_Lenght() {
+        return Body_Lenght;
+    }
+    float get_delta_h() {
+        return delta_h;
+    }
+    float get_New_Height() {
+        return New_Height;
+    }
+
+    float get_Offset_Y() {
+        return Offset_Y;
+    }
+    float get_Offset_Z() {
+        return Offset_Z;
+    }
+
+};
\ No newline at end of file