bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Controls/Gains.h
- Revision:
- 2:17b18ea93551
- Child:
- 5:c3d671959ef3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Controls/Gains.h Thu Dec 03 02:23:34 2015 +0000 @@ -0,0 +1,56 @@ +#ifndef Gains_h +#define Gains_h + +#include "CommDelegate.h" + +class Gains: public CommDelegate { + + public: + + Gains(){ + setGains(12, 4.5, 200, 3); + } + + void setGains(float k1, float d1, float k2, float d2){ + setK1(k1); + setD1(d1); + setK2(k2); + setD2(d2); + }; + + void setK1(float k1){ + _k1 = k1; + }; + void setD1(float d1){ + _d1 = d1; + }; + void setK2(float k2){ + _k2 = k2; + }; + void setD2(float d2){ + _d2 = d2; + }; + + float getK1(){ + return _k1; + }; + float getD1(){ + return _d1; + }; + float getK2(){ + return _k2; + }; + float getD2(){ + return _d2; + }; + + private: + + float _k1; + float _d1; + float _k2; + float _d2; + +}; + +#endif