Diff: Controls/Gains.h

Revision:

17:8a0e647cf551

Parent:

14:d620415259b1

Child:

18:0cfe72d8a006

--- a/Controls/Gains.h	Thu Dec 10 10:55:35 2015 +0000
+++ b/Controls/Gains.h	Fri Dec 11 00:44:45 2015 +0000
@@ -11,6 +11,8 @@
             setSwingUpK(0.7);
             setSwingUpD(0.06);
             setDesiredThetaP(4);
+            setTargetingK(0.7);
+            setTargetingD(0.06);
         }
         
         void setPC(Serial *pc){
@@ -26,6 +28,12 @@
         void setDesiredThetaP(float p){
             _desiredThetaP = p;
         };
+        void setTargetingK(float k){
+            _targetingK = k;
+        };
+        void setTargetingD(float d){
+            _targetingD = d;
+        };
         
         float getSwingUpK(){
             return _swingUpK;
@@ -36,6 +44,12 @@
         float getDesiredThetaP(){
             return _desiredThetaP;
         };
+        float getTargetingK(){
+            return _targetingK;
+        };
+        float getTargetingD(){
+            return _targetingD;
+        };
     
     private:
     
@@ -44,6 +58,8 @@
         float _swingUpK;
         float _swingUpD;
         float _desiredThetaP;
+        float _targetingK;
+        float _targetingD;
     
 };