text: #ifndef __PENDULUM_H__
  #define __PENDULUM_H__
  
  class Pendulum
  {
  public:
    Pendulum(unsigned long updateInterval, float swingMaxDegrees);
    ~Pendulum() {}
  
    void update(const int xEncoder, const float thetaDeg, unsigned long time);
  
    float swingX(const float amplitude);
  
    int xEnc;
    int xEncMax;
    float xCart;
    float vCart;
    float x;
    float y;
    float vx;
    float vy;
    float theta;
    float omega;
    float swingThetaMax;
    unsigned long dt;
    float thetaHighPoint;
  };
  
  #endif // __PENDULUM_H__