polymorphic base structures for easily implementing different gaits. Triangle wave is already in there
Dependents: robotic_fish_ver_4_9_pixy
fishgait.h@2:d95c40ac8a3e, 2014-06-19 (annotated)
- Committer:
- sandwich
- Date:
- Thu Jun 19 21:04:19 2014 +0000
- Revision:
- 2:d95c40ac8a3e
- Parent:
- 1:0aa1a6ccf5fe
sawtooth gait works. working on mixed signals gait;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sandwich | 0:aec7653a5b19 | 1 | #pragma once |
sandwich | 0:aec7653a5b19 | 2 | #include "mbed.h" |
sandwich | 2:d95c40ac8a3e | 3 | #define MAXGAITS 10 |
sandwich | 0:aec7653a5b19 | 4 | |
sandwich | 0:aec7653a5b19 | 5 | class fishgait |
sandwich | 0:aec7653a5b19 | 6 | { |
sandwich | 0:aec7653a5b19 | 7 | protected: |
sandwich | 0:aec7653a5b19 | 8 | Timer* t; |
sandwich | 0:aec7653a5b19 | 9 | public: |
sandwich | 0:aec7653a5b19 | 10 | fishgait(); //give the constructor a timer to use |
sandwich | 0:aec7653a5b19 | 11 | ~fishgait(); |
sandwich | 0:aec7653a5b19 | 12 | void setTimer(Timer* tObject); //give the instance a timer to base its calculations off of instead of making a new one |
sandwich | 0:aec7653a5b19 | 13 | virtual float compute()=0; //asbtract function to compute output duty cycle. Must redefine in child classes |
sandwich | 0:aec7653a5b19 | 14 | }; |
sandwich | 2:d95c40ac8a3e | 15 | /* |
sandwich | 2:d95c40ac8a3e | 16 | class mixedGait : public fishgait |
sandwich | 2:d95c40ac8a3e | 17 | { |
sandwich | 2:d95c40ac8a3e | 18 | private: |
sandwich | 2:d95c40ac8a3e | 19 | fishgait gaits[MAXGAITS]; |
sandwich | 2:d95c40ac8a3e | 20 | float weights[MAXGAITS]; |
sandwich | 2:d95c40ac8a3e | 21 | int count; |
sandwich | 2:d95c40ac8a3e | 22 | public: |
sandwich | 2:d95c40ac8a3e | 23 | mixedGait(); |
sandwich | 2:d95c40ac8a3e | 24 | void attach(fishgait gait, float weight); //gait to attach and its weight in the overall result. weights will be normalized |
sandwich | 2:d95c40ac8a3e | 25 | float compute(); //return the mixed signal pattern |
sandwich | 2:d95c40ac8a3e | 26 | }; |
sandwich | 2:d95c40ac8a3e | 27 | */ |
sandwich | 0:aec7653a5b19 | 28 | class triangleGait: public fishgait |
sandwich | 0:aec7653a5b19 | 29 | { |
sandwich | 0:aec7653a5b19 | 30 | private: |
sandwich | 2:d95c40ac8a3e | 31 | float frq; |
sandwich | 2:d95c40ac8a3e | 32 | float amp; |
sandwich | 0:aec7653a5b19 | 33 | public: |
sandwich | 2:d95c40ac8a3e | 34 | triangleGait(float freq, float amplitude); |
sandwich | 0:aec7653a5b19 | 35 | //~triangleGait(); |
sandwich | 2:d95c40ac8a3e | 36 | float compute(); //this does a triangle wave pattern. frequency and amplitude controlled |
sandwich | 1:0aa1a6ccf5fe | 37 | }; |
sandwich | 1:0aa1a6ccf5fe | 38 | |
sandwich | 1:0aa1a6ccf5fe | 39 | class squareGait: public fishgait |
sandwich | 1:0aa1a6ccf5fe | 40 | { |
sandwich | 1:0aa1a6ccf5fe | 41 | private: |
sandwich | 2:d95c40ac8a3e | 42 | float frq; |
sandwich | 2:d95c40ac8a3e | 43 | float amp; |
sandwich | 1:0aa1a6ccf5fe | 44 | public: |
sandwich | 2:d95c40ac8a3e | 45 | squareGait(float freq, float amplitude); |
sandwich | 1:0aa1a6ccf5fe | 46 | //~triangleGait(); |
sandwich | 2:d95c40ac8a3e | 47 | float compute(); //this does a triangle wave pattern. frequency and amplitude controlled |
sandwich | 2:d95c40ac8a3e | 48 | }; |
sandwich | 2:d95c40ac8a3e | 49 | |
sandwich | 2:d95c40ac8a3e | 50 | class sawGait: public fishgait |
sandwich | 2:d95c40ac8a3e | 51 | { |
sandwich | 2:d95c40ac8a3e | 52 | private: |
sandwich | 2:d95c40ac8a3e | 53 | float frq; |
sandwich | 2:d95c40ac8a3e | 54 | float amp; |
sandwich | 2:d95c40ac8a3e | 55 | public: |
sandwich | 2:d95c40ac8a3e | 56 | sawGait(float freq, float amplitude); |
sandwich | 2:d95c40ac8a3e | 57 | //~triangleGait(); |
sandwich | 2:d95c40ac8a3e | 58 | float compute(); //this does a triangle wave pattern. frequency and amplitude controlled |
sandwich | 0:aec7653a5b19 | 59 | }; |