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@12:49813131dd15, 2015-12-09 (annotated)

Committer:
amandaghassaei
Date:
Wed Dec 09 03:08:30 2015 +0000
Revision:
12:49813131dd15
Parent:
11:711d3c207e8c
Child:
14:d620415259b1
simple targeting;

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 9:1d9b24d7ac77 4 #include "mbed.h"
amandaghassaei 2:17b18ea93551 5
amandaghassaei 9:1d9b24d7ac77 6 class Gains {
amandaghassaei 2:17b18ea93551 7
amandaghassaei 2:17b18ea93551 8 public:
amandaghassaei 2:17b18ea93551 9
amandaghassaei 2:17b18ea93551 10 Gains(){
amandaghassaei 11:711d3c207e8c 11 setSwingUpK(0.7);
amandaghassaei 11:711d3c207e8c 12 setSwingUpD(0.06);
amandaghassaei 12:49813131dd15 13 setCurrentP(4);
amandaghassaei 10:769cc457c3a4 14 setCurrentD(0);
amandaghassaei 5:c3d671959ef3 15 }
amandaghassaei 5:c3d671959ef3 16
amandaghassaei 9:1d9b24d7ac77 17 void setPC(Serial *pc){
amandaghassaei 9:1d9b24d7ac77 18 _pc = pc;
amandaghassaei 9:1d9b24d7ac77 19 }
amandaghassaei 9:1d9b24d7ac77 20
amandaghassaei 9:1d9b24d7ac77 21 void setSwingUpK(float k){
amandaghassaei 9:1d9b24d7ac77 22 _swingUpK = k;
amandaghassaei 2:17b18ea93551 23 };
amandaghassaei 9:1d9b24d7ac77 24 void setSwingUpD(float d){
amandaghassaei 9:1d9b24d7ac77 25 _swingUpD = d;
amandaghassaei 2:17b18ea93551 26 };
amandaghassaei 10:769cc457c3a4 27 void setCurrentP(float p){
amandaghassaei 10:769cc457c3a4 28 _currentP = p;
amandaghassaei 2:17b18ea93551 29 };
amandaghassaei 10:769cc457c3a4 30 void setCurrentD(float d){
amandaghassaei 10:769cc457c3a4 31 _currentD = d;
amandaghassaei 2:17b18ea93551 32 };
amandaghassaei 2:17b18ea93551 33
amandaghassaei 9:1d9b24d7ac77 34 float getSwingUpK(){
amandaghassaei 9:1d9b24d7ac77 35 return _swingUpK;
amandaghassaei 2:17b18ea93551 36 };
amandaghassaei 9:1d9b24d7ac77 37 float getSwingUpD(){
amandaghassaei 9:1d9b24d7ac77 38 return _swingUpD;
amandaghassaei 2:17b18ea93551 39 };
amandaghassaei 10:769cc457c3a4 40 float getCurrentP(){
amandaghassaei 10:769cc457c3a4 41 return _currentP;
amandaghassaei 2:17b18ea93551 42 };
amandaghassaei 10:769cc457c3a4 43 float getCurrentD(){
amandaghassaei 10:769cc457c3a4 44 return _currentD;
amandaghassaei 2:17b18ea93551 45 };
amandaghassaei 2:17b18ea93551 46
amandaghassaei 2:17b18ea93551 47 private:
amandaghassaei 2:17b18ea93551 48
amandaghassaei 9:1d9b24d7ac77 49 Serial *_pc;
amandaghassaei 9:1d9b24d7ac77 50
amandaghassaei 9:1d9b24d7ac77 51 float _swingUpK;
amandaghassaei 9:1d9b24d7ac77 52 float _swingUpD;
amandaghassaei 10:769cc457c3a4 53 float _currentP;
amandaghassaei 10:769cc457c3a4 54 float _currentD;
amandaghassaei 2:17b18ea93551 55
amandaghassaei 2:17b18ea93551 56 };
amandaghassaei 2:17b18ea93551 57
amandaghassaei 2:17b18ea93551 58 #endif