File content as of revision 0:59d3683c6d99:

#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;
    }

};