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@20:f13b949b623b, 2015-12-11 (annotated)

Committer:
amandaghassaei
Date:
Fri Dec 11 08:54:32 2015 +0000
Revision:
20:f13b949b623b
Parent:
19:270735e44c98 
publish

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 14:d620415259b1 19 void virtual setDesiredThetaP(float p){};
amandaghassaei 19:270735e44c98 20 void virtual setSoftLimitsP(float p){};
amandaghassaei 17:8a0e647cf551 21 void virtual setTargetingK(float k){};
amandaghassaei 17:8a0e647cf551 22 void virtual setTargetingD(float d){};
amandaghassaei 9:1d9b24d7ac77 23 float virtual getSwingUpK(){return 0;};
amandaghassaei 9:1d9b24d7ac77 24 float virtual getSwingUpD(){return 0;};
amandaghassaei 14:d620415259b1 25 float virtual getDesiredThetaP(){return 0;};
amandaghassaei 19:270735e44c98 26 float virtual getSoftLimitsP(){return 0;};
amandaghassaei 17:8a0e647cf551 27 float virtual getTargetingK(){return 0;};
amandaghassaei 17:8a0e647cf551 28 float virtual getTargetingD(){return 0;};
amandaghassaei 2:17b18ea93551 29
amandaghassaei 2:17b18ea93551 30 //target
amandaghassaei 9:1d9b24d7ac77 31 void virtual setTargetPosition(int position){};
amandaghassaei 9:1d9b24d7ac77 32 int virtual getTargetPosition(){return 0;};
amandaghassaei 9:1d9b24d7ac77 33
amandaghassaei 9:1d9b24d7ac77 34 //motor
amandaghassaei 11:711d3c207e8c 35 void virtual setTheta(float theta){};
amandaghassaei 2:17b18ea93551 36
amandaghassaei 2:17b18ea93551 37 protected:
amandaghassaei 8:1a3a69fecedf 38
amandaghassaei 8:1a3a69fecedf 39
amandaghassaei 2:17b18ea93551 40
amandaghassaei 2:17b18ea93551 41 };
amandaghassaei 2:17b18ea93551 42
amandaghassaei 2:17b18ea93551 43 #endif