Diff: fishgait.cpp

Revision:

1:0aa1a6ccf5fe

Parent:

0:aec7653a5b19

Child:

2:d95c40ac8a3e

--- a/fishgait.cpp	Thu Jun 19 17:53:17 2014 +0000
+++ b/fishgait.cpp	Thu Jun 19 19:51:59 2014 +0000
@@ -42,10 +42,39 @@
         out=float(curtime)/halfperiod;
     else if (direction==false)
         out=1.0f-(float(curtime)/halfperiod);
-    out*=amp;
+    out-=0.5; //recenter the wave around 0 instead of 0.5
+    out*=amp; //factor in amplitude
+    out+=0.5; //recenter around 0.5
     if (out>1)
         out=1;
     else if (out<0)
         out=0;
     return out;
+}
+
+squareGait::squareGait(float freq, float amplitude) : fishgait(), frq(freq), amp(amplitude)
+{
+}
+/*
+triangleGait::~triangleGait()
+{
+}
+*/
+
+float squareGait::compute()
+{
+    float halfperiod=(1.0f/(frq/2.0f))*1000; //the half period in ms
+    int curtime=t->read_ms(); //read time
+    static bool direction=true; //true-> up, false->down
+    float out=0;
+    if (curtime>halfperiod) {
+        direction=!direction;
+        t->reset();
+    }
+    if (direction==true)
+        out=1.0f;
+    else if (direction==false)
+        out=0.0f;
+    out*=amp;
+    return out;
 }
\ No newline at end of file