Diff: Comm/Comm.cpp

Revision:

17:8a0e647cf551

Parent:

14:d620415259b1

Child:

19:270735e44c98

--- a/Comm/Comm.cpp	Thu Dec 10 10:55:35 2015 +0000
+++ b/Comm/Comm.cpp	Fri Dec 11 00:44:45 2015 +0000
@@ -56,6 +56,28 @@
     _controls->setSwingUpD(d);
     printGains();
 }
+
+
+void Comm::setTargetingK(Arguments* input, Reply* output){
+    if (input->argc < 1){
+        throwNotEnoughArgsError();
+        return;
+    }
+    float k = input->getArg<float>(); 
+    _controls->setTargetingK(k);
+    printGains();
+}
+void Comm::setTargetingD(Arguments* input, Reply* output){
+    if (input->argc < 1){
+        throwNotEnoughArgsError();
+        return;
+    }
+    float d = input->getArg<float>(); 
+    _controls->setTargetingD(d);
+    printGains();
+}
+
+
 void Comm::setDesiredThetaP(Arguments* input, Reply* output){
     if (input->argc < 1){
         throwNotEnoughArgsError();
@@ -74,6 +96,10 @@
     _json.print("swingUpD", _controls->getSwingUpD());
     _json.sepItem();
     _json.print("desiredThetaP", _controls->getDesiredThetaP());
+    _json.sepItem();
+    _json.print("targetingK", _controls->getTargetingK());
+    _json.sepItem();
+    _json.print("targetingD", _controls->getTargetingD());
     _json.close();
 }