Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

Fork of MPU6050_Example by Shundo Kishi

Controls/Gains.h@2:17b18ea93551, 2015-12-03 (annotated)

Committer:
amandaghassaei
Date:
Thu Dec 03 02:23:34 2015 +0000
Revision:
2:17b18ea93551
Child:
5:c3d671959ef3
delegate stuff working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 2:17b18ea93551 1 #ifndef Gains_h
amandaghassaei 2:17b18ea93551 2 #define Gains_h
amandaghassaei 2:17b18ea93551 3
amandaghassaei 2:17b18ea93551 4 #include "CommDelegate.h"
amandaghassaei 2:17b18ea93551 5
amandaghassaei 2:17b18ea93551 6 class Gains: public CommDelegate {
amandaghassaei 2:17b18ea93551 7
amandaghassaei 2:17b18ea93551 8 public:
amandaghassaei 2:17b18ea93551 9
amandaghassaei 2:17b18ea93551 10 Gains(){
amandaghassaei 2:17b18ea93551 11 setGains(12, 4.5, 200, 3);
amandaghassaei 2:17b18ea93551 12 }
amandaghassaei 2:17b18ea93551 13
amandaghassaei 2:17b18ea93551 14 void setGains(float k1, float d1, float k2, float d2){
amandaghassaei 2:17b18ea93551 15 setK1(k1);
amandaghassaei 2:17b18ea93551 16 setD1(d1);
amandaghassaei 2:17b18ea93551 17 setK2(k2);
amandaghassaei 2:17b18ea93551 18 setD2(d2);
amandaghassaei 2:17b18ea93551 19 };
amandaghassaei 2:17b18ea93551 20
amandaghassaei 2:17b18ea93551 21 void setK1(float k1){
amandaghassaei 2:17b18ea93551 22 _k1 = k1;
amandaghassaei 2:17b18ea93551 23 };
amandaghassaei 2:17b18ea93551 24 void setD1(float d1){
amandaghassaei 2:17b18ea93551 25 _d1 = d1;
amandaghassaei 2:17b18ea93551 26 };
amandaghassaei 2:17b18ea93551 27 void setK2(float k2){
amandaghassaei 2:17b18ea93551 28 _k2 = k2;
amandaghassaei 2:17b18ea93551 29 };
amandaghassaei 2:17b18ea93551 30 void setD2(float d2){
amandaghassaei 2:17b18ea93551 31 _d2 = d2;
amandaghassaei 2:17b18ea93551 32 };
amandaghassaei 2:17b18ea93551 33
amandaghassaei 2:17b18ea93551 34 float getK1(){
amandaghassaei 2:17b18ea93551 35 return _k1;
amandaghassaei 2:17b18ea93551 36 };
amandaghassaei 2:17b18ea93551 37 float getD1(){
amandaghassaei 2:17b18ea93551 38 return _d1;
amandaghassaei 2:17b18ea93551 39 };
amandaghassaei 2:17b18ea93551 40 float getK2(){
amandaghassaei 2:17b18ea93551 41 return _k2;
amandaghassaei 2:17b18ea93551 42 };
amandaghassaei 2:17b18ea93551 43 float getD2(){
amandaghassaei 2:17b18ea93551 44 return _d2;
amandaghassaei 2:17b18ea93551 45 };
amandaghassaei 2:17b18ea93551 46
amandaghassaei 2:17b18ea93551 47 private:
amandaghassaei 2:17b18ea93551 48
amandaghassaei 2:17b18ea93551 49 float _k1;
amandaghassaei 2:17b18ea93551 50 float _d1;
amandaghassaei 2:17b18ea93551 51 float _k2;
amandaghassaei 2:17b18ea93551 52 float _d2;
amandaghassaei 2:17b18ea93551 53
amandaghassaei 2:17b18ea93551 54 };
amandaghassaei 2:17b18ea93551 55
amandaghassaei 2:17b18ea93551 56 #endif