bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Comm/CommDelegate.h
- Revision:
- 9:1d9b24d7ac77
- Parent:
- 8:1a3a69fecedf
- Child:
- 10:769cc457c3a4
diff -r 1a3a69fecedf -r 1d9b24d7ac77 Comm/CommDelegate.h --- a/Comm/CommDelegate.h Thu Dec 03 23:55:44 2015 +0000 +++ b/Comm/CommDelegate.h Sat Dec 05 00:40:42 2015 +0000 @@ -14,20 +14,21 @@ float virtual getDTheta2(){return 0.0;} //gains - void virtual setGains(float k1, float d1, float k2, float d2){}; - void virtual setK1(float k1){}; - void virtual setD1(float d1){}; + void virtual setSwingUpK(float k){}; + void virtual setSwingUpD(float d){}; void virtual setK2(float k2){}; void virtual setD2(float d2){}; - float virtual getK1(){return 0;}; - float virtual getD1(){return 0;}; + float virtual getSwingUpK(){return 0;}; + float virtual getSwingUpD(){return 0;}; float virtual getK2(){return 0;}; float virtual getD2(){return 0;}; - int virtual numGains(){return 0;}; //target - void virtual setPosition(int position){}; - int virtual getPosition(){return 0;}; + void virtual setTargetPosition(int position){}; + int virtual getTargetPosition(){return 0;}; + + //motor + void virtual setTorque(float torque){}; protected: