Diff: Comm/Comm.cpp

Revision:

14:d620415259b1

Parent:

11:711d3c207e8c

Child:

17:8a0e647cf551

--- a/Comm/Comm.cpp	Wed Dec 09 03:25:22 2015 +0000
+++ b/Comm/Comm.cpp	Wed Dec 09 03:40:38 2015 +0000
@@ -56,27 +56,16 @@
     _controls->setSwingUpD(d);
     printGains();
 }
-void Comm::setCurrentP(Arguments* input, Reply* output){
+void Comm::setDesiredThetaP(Arguments* input, Reply* output){
     if (input->argc < 1){
         throwNotEnoughArgsError();
         return;
     }
     float p = input->getArg<float>(); 
-    _controls->setCurrentP(p);
+    _controls->setDesiredThetaP(p);
     printGains();
 }
 
-void Comm::setCurrentD(Arguments* input, Reply* output){
-    if (input->argc < 1){
-        throwNotEnoughArgsError();
-        return;
-    }
-    float d = input->getArg<float>(); 
-    _controls->setCurrentD(d);
-    printGains();
-}
-
-
 
 void Comm::printGains(){
     _json.open();
@@ -84,9 +73,7 @@
     _json.sepItem();
     _json.print("swingUpD", _controls->getSwingUpD());
     _json.sepItem();
-    _json.print("currentP", _controls->getCurrentP());
-    _json.sepItem();
-    _json.print("currentD", _controls->getCurrentD());
+    _json.print("desiredThetaP", _controls->getDesiredThetaP());
     _json.close();
 }