bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Comm/CommDelegate.h@20:f13b949b623b, 2015-12-11 (annotated)
- Committer:
- amandaghassaei
- Date:
- Fri Dec 11 08:54:32 2015 +0000
- Revision:
- 20:f13b949b623b
- Parent:
- 19:270735e44c98
publish
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 | 9:1d9b24d7ac77 | 17 | void virtual setSwingUpK(float k){}; |
amandaghassaei | 9:1d9b24d7ac77 | 18 | void virtual setSwingUpD(float d){}; |
amandaghassaei | 14:d620415259b1 | 19 | void virtual setDesiredThetaP(float p){}; |
amandaghassaei | 19:270735e44c98 | 20 | void virtual setSoftLimitsP(float p){}; |
amandaghassaei | 17:8a0e647cf551 | 21 | void virtual setTargetingK(float k){}; |
amandaghassaei | 17:8a0e647cf551 | 22 | void virtual setTargetingD(float d){}; |
amandaghassaei | 9:1d9b24d7ac77 | 23 | float virtual getSwingUpK(){return 0;}; |
amandaghassaei | 9:1d9b24d7ac77 | 24 | float virtual getSwingUpD(){return 0;}; |
amandaghassaei | 14:d620415259b1 | 25 | float virtual getDesiredThetaP(){return 0;}; |
amandaghassaei | 19:270735e44c98 | 26 | float virtual getSoftLimitsP(){return 0;}; |
amandaghassaei | 17:8a0e647cf551 | 27 | float virtual getTargetingK(){return 0;}; |
amandaghassaei | 17:8a0e647cf551 | 28 | float virtual getTargetingD(){return 0;}; |
amandaghassaei | 2:17b18ea93551 | 29 | |
amandaghassaei | 2:17b18ea93551 | 30 | //target |
amandaghassaei | 9:1d9b24d7ac77 | 31 | void virtual setTargetPosition(int position){}; |
amandaghassaei | 9:1d9b24d7ac77 | 32 | int virtual getTargetPosition(){return 0;}; |
amandaghassaei | 9:1d9b24d7ac77 | 33 | |
amandaghassaei | 9:1d9b24d7ac77 | 34 | //motor |
amandaghassaei | 11:711d3c207e8c | 35 | void virtual setTheta(float theta){}; |
amandaghassaei | 2:17b18ea93551 | 36 | |
amandaghassaei | 2:17b18ea93551 | 37 | protected: |
amandaghassaei | 8:1a3a69fecedf | 38 | |
amandaghassaei | 8:1a3a69fecedf | 39 | |
amandaghassaei | 2:17b18ea93551 | 40 | |
amandaghassaei | 2:17b18ea93551 | 41 | }; |
amandaghassaei | 2:17b18ea93551 | 42 | |
amandaghassaei | 2:17b18ea93551 | 43 | #endif |