bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Controls/Gains.h
- Committer:
- amandaghassaei
- Date:
- 2015-12-09
- Revision:
- 12:49813131dd15
- Parent:
- 11:711d3c207e8c
- Child:
- 14:d620415259b1
File content as of revision 12:49813131dd15:
#ifndef Gains_h #define Gains_h #include "mbed.h" class Gains { public: Gains(){ setSwingUpK(0.7); setSwingUpD(0.06); setCurrentP(4); setCurrentD(0); } void setPC(Serial *pc){ _pc = pc; } void setSwingUpK(float k){ _swingUpK = k; }; void setSwingUpD(float d){ _swingUpD = d; }; void setCurrentP(float p){ _currentP = p; }; void setCurrentD(float d){ _currentD = d; }; float getSwingUpK(){ return _swingUpK; }; float getSwingUpD(){ return _swingUpD; }; float getCurrentP(){ return _currentP; }; float getCurrentD(){ return _currentD; }; private: Serial *_pc; float _swingUpK; float _swingUpD; float _currentP; float _currentD; }; #endif