Diff: PositionController.h

Revision:

10:fe74e8909d3f

Parent:

8:6b747ad59ff5

--- a/PositionController.h	Tue Aug 31 15:38:44 2021 +0000
+++ b/PositionController.h	Thu Feb 10 12:04:36 2022 +0000
@@ -12,6 +12,7 @@
 public:
 
     PositionController(float counts_per_turn, float kn, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
+    PositionController(float counts_per_turn, float kn, float kp, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
     PositionController(float counts_per_turn, float kn, float kp, float p, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
 
     virtual ~PositionController();
@@ -21,6 +22,9 @@
     void     setDesiredRotation(float desiredRotation);
     void     setDesiredRotation(float desiredRotation, float maxSpeedRPS);
     float    getRotation();
+    void     setFeedForwardGain(float kn);
+    void     setSpeedCntrlGain(float kp);
+    void     setPositionCntrlGain(float p);
 
 private: