update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
Diff: OuterLoop/OuterLoop.cpp
- Revision:
- 73:f6f378311c8d
- Parent:
- 62:d502889e74f1
- Child:
- 74:d281aaef9766
diff -r 250b2665755c -r f6f378311c8d OuterLoop/OuterLoop.cpp --- a/OuterLoop/OuterLoop.cpp Mon Jul 02 14:28:22 2018 +0000 +++ b/OuterLoop/OuterLoop.cpp Mon Jul 30 16:48:48 2018 +0000 @@ -128,11 +128,16 @@ float OuterLoop::getControllerD() { return _Dgain; } - + +//uses position velocity filter class void OuterLoop::setFilterFrequency(float frequency) { _filterFrequency = frequency; _filter.writeWn(frequency); } + +float OuterLoop::getFilterFrequency() { + return _filterFrequency; //new 7/11/18 +} void OuterLoop::setDeadband(float deadband) { _deadband = deadband;