Diff: SpeedController.h

Revision:

10:fe74e8909d3f

Parent:

6:41dd03654c44

--- 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;