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