bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Controls/Gains.h
- Committer:
- amandaghassaei
- Date:
- 2015-12-05
- Revision:
- 10:769cc457c3a4
- Parent:
- 9:1d9b24d7ac77
- Child:
- 11:711d3c207e8c
File content as of revision 10:769cc457c3a4:
#ifndef Gains_h #define Gains_h #include "mbed.h" class Gains { public: Gains(){ setSwingUpK(10); setSwingUpD(1); setCurrentP(10); 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