File content as of revision 9:1d9b24d7ac77:

#ifndef Gains_h
#define Gains_h

#include "mbed.h"

class Gains {
    
    public:
    
        Gains(){
            setSwingUpK(10);
            setSwingUpD(1);
        }
        
        void setPC(Serial *pc){
            _pc = pc;
        }
        
        void setSwingUpK(float k){
            _swingUpK = k;
        };
        void setSwingUpD(float d){
            _swingUpD = d;
        };
        void setK2(float k2){
            _k2 = k2;
        };
        void setD2(float d2){
            _d2 = d2;
        };
        
        float getSwingUpK(){
            return _swingUpK;
        };
        float getSwingUpD(){
            return _swingUpD;
        };
        float getK2(){
            return _k2;
        };
        float getD2(){
            return _d2;
        };
    
    private:
    
        Serial *_pc;
    
        float _swingUpK;
        float _swingUpD;
        float _k2;
        float _d2;
    
};

#endif