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

Comm/CommDelegate.h@10:769cc457c3a4, 2015-12-05 (annotated)

Committer:
amandaghassaei
Date:
Sat Dec 05 09:04:23 2015 +0000
Revision:
10:769cc457c3a4
Parent:
9:1d9b24d7ac77
Child:
11:711d3c207e8c
swinging looking good;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 2:17b18ea93551 1 #ifndef CommDelegate_h
amandaghassaei 2:17b18ea93551 2 #define CommDelegate_h
amandaghassaei 2:17b18ea93551 3
amandaghassaei 2:17b18ea93551 4 class CommDelegate//parent class
amandaghassaei 2:17b18ea93551 5 {
amandaghassaei 2:17b18ea93551 6 public:
amandaghassaei 2:17b18ea93551 7
amandaghassaei 2:17b18ea93551 8 CommDelegate(){}//constructor method
amandaghassaei 2:17b18ea93551 9
amandaghassaei 8:1a3a69fecedf 10 //thetas
amandaghassaei 8:1a3a69fecedf 11 float virtual getTheta1(){return 0.0;}
amandaghassaei 8:1a3a69fecedf 12 float virtual getDTheta1(){return 0.0;}
amandaghassaei 8:1a3a69fecedf 13 float virtual getTheta2(){return 0.0;}
amandaghassaei 8:1a3a69fecedf 14 float virtual getDTheta2(){return 0.0;}
amandaghassaei 2:17b18ea93551 15
amandaghassaei 2:17b18ea93551 16 //gains
amandaghassaei 9:1d9b24d7ac77 17 void virtual setSwingUpK(float k){};
amandaghassaei 9:1d9b24d7ac77 18 void virtual setSwingUpD(float d){};
amandaghassaei 10:769cc457c3a4 19 void virtual setCurrentP(float p){};
amandaghassaei 10:769cc457c3a4 20 void virtual setCurrentD(float d){};
amandaghassaei 9:1d9b24d7ac77 21 float virtual getSwingUpK(){return 0;};
amandaghassaei 9:1d9b24d7ac77 22 float virtual getSwingUpD(){return 0;};
amandaghassaei 10:769cc457c3a4 23 float virtual getCurrentP(){return 0;};
amandaghassaei 10:769cc457c3a4 24 float virtual getCurrentD(){return 0;};
amandaghassaei 2:17b18ea93551 25
amandaghassaei 2:17b18ea93551 26 //target
amandaghassaei 9:1d9b24d7ac77 27 void virtual setTargetPosition(int position){};
amandaghassaei 9:1d9b24d7ac77 28 int virtual getTargetPosition(){return 0;};
amandaghassaei 9:1d9b24d7ac77 29
amandaghassaei 9:1d9b24d7ac77 30 //motor
amandaghassaei 9:1d9b24d7ac77 31 void virtual setTorque(float torque){};
amandaghassaei 2:17b18ea93551 32
amandaghassaei 2:17b18ea93551 33 protected:
amandaghassaei 8:1a3a69fecedf 34
amandaghassaei 8:1a3a69fecedf 35
amandaghassaei 2:17b18ea93551 36
amandaghassaei 2:17b18ea93551 37 };
amandaghassaei 2:17b18ea93551 38
amandaghassaei 2:17b18ea93551 39 #endif