CommDelegate.h

00001 #ifndef CommDelegate_h
00002 #define CommDelegate_h
00003 
00004 class CommDelegate//parent class
00005 {
00006     public:
00007     
00008       CommDelegate(){}//constructor method
00009       
00010         //thetas
00011         float virtual getTheta1(){return 0.0;}
00012         float virtual getDTheta1(){return 0.0;}
00013         float virtual getTheta2(){return 0.0;}
00014         float virtual getDTheta2(){return 0.0;}
00015       
00016         //gains
00017         void virtual setSwingUpK(float k){};
00018         void virtual setSwingUpD(float d){};
00019         void virtual setDesiredThetaP(float p){};
00020         void virtual setSoftLimitsP(float p){};
00021         void virtual setTargetingK(float k){};
00022         void virtual setTargetingD(float d){};
00023         float virtual getSwingUpK(){return 0;};
00024         float virtual getSwingUpD(){return 0;};
00025         float virtual getDesiredThetaP(){return 0;};
00026         float virtual getSoftLimitsP(){return 0;};
00027         float virtual getTargetingK(){return 0;};
00028         float virtual getTargetingD(){return 0;};
00029         
00030         //target
00031         void virtual setTargetPosition(int position){};
00032         int virtual getTargetPosition(){return 0;};
00033         
00034         //motor
00035         void virtual setTheta(float theta){};
00036       
00037     protected:
00038     
00039         
00040          
00041 };
00042 
00043 #endif