bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Comm/CommDelegate.h@8:1a3a69fecedf, 2015-12-03 (annotated)
- Committer:
- amandaghassaei
- Date:
- Thu Dec 03 23:55:44 2015 +0000
- Revision:
- 8:1a3a69fecedf
- Parent:
- 5:c3d671959ef3
- Child:
- 9:1d9b24d7ac77
added in matlab controls;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
amandaghassaei | 2:17b18ea93551 | 1 | #ifndef CommDelegate_h |
amandaghassaei | 2:17b18ea93551 | 2 | #define CommDelegate_h |
amandaghassaei | 2:17b18ea93551 | 3 | |
amandaghassaei | 2:17b18ea93551 | 4 | class CommDelegate//parent class |
amandaghassaei | 2:17b18ea93551 | 5 | { |
amandaghassaei | 2:17b18ea93551 | 6 | public: |
amandaghassaei | 2:17b18ea93551 | 7 | |
amandaghassaei | 2:17b18ea93551 | 8 | CommDelegate(){}//constructor method |
amandaghassaei | 2:17b18ea93551 | 9 | |
amandaghassaei | 8:1a3a69fecedf | 10 | //thetas |
amandaghassaei | 8:1a3a69fecedf | 11 | float virtual getTheta1(){return 0.0;} |
amandaghassaei | 8:1a3a69fecedf | 12 | float virtual getDTheta1(){return 0.0;} |
amandaghassaei | 8:1a3a69fecedf | 13 | float virtual getTheta2(){return 0.0;} |
amandaghassaei | 8:1a3a69fecedf | 14 | float virtual getDTheta2(){return 0.0;} |
amandaghassaei | 2:17b18ea93551 | 15 | |
amandaghassaei | 2:17b18ea93551 | 16 | //gains |
amandaghassaei | 2:17b18ea93551 | 17 | void virtual setGains(float k1, float d1, float k2, float d2){}; |
amandaghassaei | 2:17b18ea93551 | 18 | void virtual setK1(float k1){}; |
amandaghassaei | 2:17b18ea93551 | 19 | void virtual setD1(float d1){}; |
amandaghassaei | 2:17b18ea93551 | 20 | void virtual setK2(float k2){}; |
amandaghassaei | 2:17b18ea93551 | 21 | void virtual setD2(float d2){}; |
amandaghassaei | 2:17b18ea93551 | 22 | float virtual getK1(){return 0;}; |
amandaghassaei | 2:17b18ea93551 | 23 | float virtual getD1(){return 0;}; |
amandaghassaei | 2:17b18ea93551 | 24 | float virtual getK2(){return 0;}; |
amandaghassaei | 2:17b18ea93551 | 25 | float virtual getD2(){return 0;}; |
amandaghassaei | 5:c3d671959ef3 | 26 | int virtual numGains(){return 0;}; |
amandaghassaei | 2:17b18ea93551 | 27 | |
amandaghassaei | 2:17b18ea93551 | 28 | //target |
amandaghassaei | 2:17b18ea93551 | 29 | void virtual setPosition(int position){}; |
amandaghassaei | 2:17b18ea93551 | 30 | int virtual getPosition(){return 0;}; |
amandaghassaei | 2:17b18ea93551 | 31 | |
amandaghassaei | 2:17b18ea93551 | 32 | protected: |
amandaghassaei | 8:1a3a69fecedf | 33 | |
amandaghassaei | 8:1a3a69fecedf | 34 | |
amandaghassaei | 2:17b18ea93551 | 35 | |
amandaghassaei | 2:17b18ea93551 | 36 | }; |
amandaghassaei | 2:17b18ea93551 | 37 | |
amandaghassaei | 2:17b18ea93551 | 38 | #endif |