Michael Ernst Peter / PM2_Libary

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Dependencies:   LSM9DS1 RangeFinder FastPWM

Dependents:   PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board ... more

Diff: SpeedController.h

Revision:
10:fe74e8909d3f
Parent:
6:41dd03654c44
Child:
29:335fb9b01ca7
diff -r 583dbd17e0ba -r fe74e8909d3f SpeedController.h
--- a/SpeedController.h	Tue Aug 31 15:38:44 2021 +0000
+++ b/SpeedController.h	Thu Feb 10 12:04:36 2022 +0000
@@ -12,17 +12,19 @@
 public:
 
     SpeedController(float counts_per_turn, float kn, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
-    SpeedController(float counts_per_turn, float kn, float kp, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
 
     virtual ~SpeedController();
 
-    void     setDesiredSpeedRPM(float desiredSpeed);
-    float    getSpeedRPM();
     void     setDesiredSpeedRPS(float desiredSpeed);
     float    getSpeedRPS();
+    float    getSpeedRPM();
+    void     setFeedForwardGain(float kn);
+    void     setSpeedCntrlGain(float kp);
 
 private:
 
+    void     setDesiredSpeedRPM(float desiredSpeed);
+
     static const float TS;
     static const float LOWPASS_FILTER_FREQUENCY;
     static const float MIN_DUTY_CYCLE;