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@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 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 18:0cfe72d8a006 11 setSwingUpK(30);
amandaghassaei 18:0cfe72d8a006 12 setSwingUpD(4);
amandaghassaei 19:270735e44c98 13 setDesiredThetaP(0.05);
amandaghassaei 19:270735e44c98 14 setSoftLimitsP(0.8);
amandaghassaei 18:0cfe72d8a006 15 setTargetingK(1);
amandaghassaei 18:0cfe72d8a006 16 setTargetingD(0);
amandaghassaei 5:c3d671959ef3 17 }
amandaghassaei 5:c3d671959ef3 18
amandaghassaei 9:1d9b24d7ac77 19 void setPC(Serial *pc){
amandaghassaei 9:1d9b24d7ac77 20 _pc = pc;
amandaghassaei 9:1d9b24d7ac77 21 }
amandaghassaei 9:1d9b24d7ac77 22
amandaghassaei 9:1d9b24d7ac77 23 void setSwingUpK(float k){
amandaghassaei 9:1d9b24d7ac77 24 _swingUpK = k;
amandaghassaei 2:17b18ea93551 25 };
amandaghassaei 9:1d9b24d7ac77 26 void setSwingUpD(float d){
amandaghassaei 9:1d9b24d7ac77 27 _swingUpD = d;
amandaghassaei 2:17b18ea93551 28 };
amandaghassaei 14:d620415259b1 29 void setDesiredThetaP(float p){
amandaghassaei 14:d620415259b1 30 _desiredThetaP = p;
amandaghassaei 2:17b18ea93551 31 };
amandaghassaei 19:270735e44c98 32 void setSoftLimitsP(float p){
amandaghassaei 19:270735e44c98 33 _softLimitsP = p;
amandaghassaei 19:270735e44c98 34 };
amandaghassaei 17:8a0e647cf551 35 void setTargetingK(float k){
amandaghassaei 17:8a0e647cf551 36 _targetingK = k;
amandaghassaei 17:8a0e647cf551 37 };
amandaghassaei 17:8a0e647cf551 38 void setTargetingD(float d){
amandaghassaei 17:8a0e647cf551 39 _targetingD = d;
amandaghassaei 17:8a0e647cf551 40 };
amandaghassaei 2:17b18ea93551 41
amandaghassaei 9:1d9b24d7ac77 42 float getSwingUpK(){
amandaghassaei 9:1d9b24d7ac77 43 return _swingUpK;
amandaghassaei 2:17b18ea93551 44 };
amandaghassaei 9:1d9b24d7ac77 45 float getSwingUpD(){
amandaghassaei 9:1d9b24d7ac77 46 return _swingUpD;
amandaghassaei 2:17b18ea93551 47 };
amandaghassaei 14:d620415259b1 48 float getDesiredThetaP(){
amandaghassaei 14:d620415259b1 49 return _desiredThetaP;
amandaghassaei 2:17b18ea93551 50 };
amandaghassaei 19:270735e44c98 51 float getSoftLimitsP(){
amandaghassaei 19:270735e44c98 52 return _softLimitsP;
amandaghassaei 19:270735e44c98 53 };
amandaghassaei 17:8a0e647cf551 54 float getTargetingK(){
amandaghassaei 17:8a0e647cf551 55 return _targetingK;
amandaghassaei 17:8a0e647cf551 56 };
amandaghassaei 17:8a0e647cf551 57 float getTargetingD(){
amandaghassaei 17:8a0e647cf551 58 return _targetingD;
amandaghassaei 17:8a0e647cf551 59 };
amandaghassaei 2:17b18ea93551 60
amandaghassaei 2:17b18ea93551 61 private:
amandaghassaei 2:17b18ea93551 62
amandaghassaei 9:1d9b24d7ac77 63 Serial *_pc;
amandaghassaei 9:1d9b24d7ac77 64
amandaghassaei 9:1d9b24d7ac77 65 float _swingUpK;
amandaghassaei 9:1d9b24d7ac77 66 float _swingUpD;
amandaghassaei 14:d620415259b1 67 float _desiredThetaP;
amandaghassaei 19:270735e44c98 68 float _softLimitsP;
amandaghassaei 17:8a0e647cf551 69 float _targetingK;
amandaghassaei 17:8a0e647cf551 70 float _targetingD;
amandaghassaei 2:17b18ea93551 71
amandaghassaei 2:17b18ea93551 72 };
amandaghassaei 2:17b18ea93551 73
amandaghassaei 2:17b18ea93551 74 #endif