Diff: Controls/Gains.h

Revision:

9:1d9b24d7ac77

Parent:

5:c3d671959ef3

Child:

10:769cc457c3a4

--- a/Controls/Gains.h	Thu Dec 03 23:55:44 2015 +0000
+++ b/Controls/Gains.h	Sat Dec 05 00:40:42 2015 +0000
@@ -1,32 +1,26 @@
 #ifndef Gains_h
 #define Gains_h
 
-#include "CommDelegate.h"
+#include "mbed.h"
 
-class Gains: public CommDelegate {
+class Gains {
     
     public:
     
         Gains(){
-            setGains(12, 4.5, 200, 3);
-        }
-        
-        int numGains(){
-            return 4;
+            setSwingUpK(10);
+            setSwingUpD(1);
         }
         
-        void setGains(float k1, float d1, float k2, float d2){
-            setK1(k1);
-            setD1(d1);
-            setK2(k2);
-            setD2(d2);
+        void setPC(Serial *pc){
+            _pc = pc;
+        }
+        
+        void setSwingUpK(float k){
+            _swingUpK = k;
         };
-        
-        void setK1(float k1){
-            _k1 = k1;
-        };
-        void setD1(float d1){
-            _d1 = d1;
+        void setSwingUpD(float d){
+            _swingUpD = d;
         };
         void setK2(float k2){
             _k2 = k2;
@@ -35,11 +29,11 @@
             _d2 = d2;
         };
         
-        float getK1(){
-            return _k1;
+        float getSwingUpK(){
+            return _swingUpK;
         };
-        float getD1(){
-            return _d1;
+        float getSwingUpD(){
+            return _swingUpD;
         };
         float getK2(){
             return _k2;
@@ -50,8 +44,10 @@
     
     private:
     
-        float _k1;
-        float _d1;
+        Serial *_pc;
+    
+        float _swingUpK;
+        float _swingUpD;
         float _k2;
         float _d2;