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@17:8a0e647cf551, 2015-12-11 (annotated)

Committer:
amandaghassaei
Date:
Fri Dec 11 00:44:45 2015 +0000
Revision:
17:8a0e647cf551
Parent:
14:d620415259b1
Child:
18:0cfe72d8a006
eod

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 14:d620415259b1 13 setDesiredThetaP(4);
amandaghassaei 17:8a0e647cf551 14 setTargetingK(0.7);
amandaghassaei 17:8a0e647cf551 15 setTargetingD(0.06);
amandaghassaei 5:c3d671959ef3 16 }
amandaghassaei 5:c3d671959ef3 17
amandaghassaei 9:1d9b24d7ac77 18 void setPC(Serial *pc){
amandaghassaei 9:1d9b24d7ac77 19 _pc = pc;
amandaghassaei 9:1d9b24d7ac77 20 }
amandaghassaei 9:1d9b24d7ac77 21
amandaghassaei 9:1d9b24d7ac77 22 void setSwingUpK(float k){
amandaghassaei 9:1d9b24d7ac77 23 _swingUpK = k;
amandaghassaei 2:17b18ea93551 24 };
amandaghassaei 9:1d9b24d7ac77 25 void setSwingUpD(float d){
amandaghassaei 9:1d9b24d7ac77 26 _swingUpD = d;
amandaghassaei 2:17b18ea93551 27 };
amandaghassaei 14:d620415259b1 28 void setDesiredThetaP(float p){
amandaghassaei 14:d620415259b1 29 _desiredThetaP = p;
amandaghassaei 2:17b18ea93551 30 };
amandaghassaei 17:8a0e647cf551 31 void setTargetingK(float k){
amandaghassaei 17:8a0e647cf551 32 _targetingK = k;
amandaghassaei 17:8a0e647cf551 33 };
amandaghassaei 17:8a0e647cf551 34 void setTargetingD(float d){
amandaghassaei 17:8a0e647cf551 35 _targetingD = d;
amandaghassaei 17:8a0e647cf551 36 };
amandaghassaei 2:17b18ea93551 37
amandaghassaei 9:1d9b24d7ac77 38 float getSwingUpK(){
amandaghassaei 9:1d9b24d7ac77 39 return _swingUpK;
amandaghassaei 2:17b18ea93551 40 };
amandaghassaei 9:1d9b24d7ac77 41 float getSwingUpD(){
amandaghassaei 9:1d9b24d7ac77 42 return _swingUpD;
amandaghassaei 2:17b18ea93551 43 };
amandaghassaei 14:d620415259b1 44 float getDesiredThetaP(){
amandaghassaei 14:d620415259b1 45 return _desiredThetaP;
amandaghassaei 2:17b18ea93551 46 };
amandaghassaei 17:8a0e647cf551 47 float getTargetingK(){
amandaghassaei 17:8a0e647cf551 48 return _targetingK;
amandaghassaei 17:8a0e647cf551 49 };
amandaghassaei 17:8a0e647cf551 50 float getTargetingD(){
amandaghassaei 17:8a0e647cf551 51 return _targetingD;
amandaghassaei 17:8a0e647cf551 52 };
amandaghassaei 2:17b18ea93551 53
amandaghassaei 2:17b18ea93551 54 private:
amandaghassaei 2:17b18ea93551 55
amandaghassaei 9:1d9b24d7ac77 56 Serial *_pc;
amandaghassaei 9:1d9b24d7ac77 57
amandaghassaei 9:1d9b24d7ac77 58 float _swingUpK;
amandaghassaei 9:1d9b24d7ac77 59 float _swingUpD;
amandaghassaei 14:d620415259b1 60 float _desiredThetaP;
amandaghassaei 17:8a0e647cf551 61 float _targetingK;
amandaghassaei 17:8a0e647cf551 62 float _targetingD;
amandaghassaei 2:17b18ea93551 63
amandaghassaei 2:17b18ea93551 64 };
amandaghassaei 2:17b18ea93551 65
amandaghassaei 2:17b18ea93551 66 #endif