jetfishteam / fishgait

polymorphic base structures for easily implementing different gaits. Triangle wave is already in there

Dependents:   robotic_fish_ver_4_9_pixy

fishgait.h@0:aec7653a5b19, 2014-06-19 (annotated)

Committer:
sandwich
Date:
Thu Jun 19 17:53:17 2014 +0000
Revision:
0:aec7653a5b19
Child:
1:0aa1a6ccf5fe
works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 0:aec7653a5b19 1 #pragma once
sandwich 0:aec7653a5b19 2 #include "mbed.h"
sandwich 0:aec7653a5b19 3
sandwich 0:aec7653a5b19 4 class fishgait
sandwich 0:aec7653a5b19 5 {
sandwich 0:aec7653a5b19 6 protected:
sandwich 0:aec7653a5b19 7 Timer* t;
sandwich 0:aec7653a5b19 8 public:
sandwich 0:aec7653a5b19 9 fishgait(); //give the constructor a timer to use
sandwich 0:aec7653a5b19 10 ~fishgait();
sandwich 0:aec7653a5b19 11 void setTimer(Timer* tObject); //give the instance a timer to base its calculations off of instead of making a new one
sandwich 0:aec7653a5b19 12 virtual float compute()=0; //asbtract function to compute output duty cycle. Must redefine in child classes
sandwich 0:aec7653a5b19 13 };
sandwich 0:aec7653a5b19 14
sandwich 0:aec7653a5b19 15 class triangleGait: public fishgait
sandwich 0:aec7653a5b19 16 {
sandwich 0:aec7653a5b19 17 private:
sandwich 0:aec7653a5b19 18 float frq;
sandwich 0:aec7653a5b19 19 float amp;
sandwich 0:aec7653a5b19 20 public:
sandwich 0:aec7653a5b19 21 triangleGait(float freq, float amplitude);
sandwich 0:aec7653a5b19 22 //~triangleGait();
sandwich 0:aec7653a5b19 23 float compute(); //this does a triangle wave pattern. frequency and amplitude controlled
sandwich 0:aec7653a5b19 24 };