bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Controls/Gains.h@11:711d3c207e8c, 2015-12-08 (annotated)
- Committer:
- amandaghassaei
- Date:
- Tue Dec 08 22:52:46 2015 +0000
- Revision:
- 11:711d3c207e8c
- Parent:
- 10:769cc457c3a4
- Child:
- 12:49813131dd15
negative dth;
Who changed what in which revision?
User | Revision | Line number | New 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 | 11:711d3c207e8c | 13 | setCurrentP(30); |
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 |