jetfishteam
polymorphic base structures for easily implementing different gaits. Triangle wave is already in there
Dependents: robotic_fish_ver_4_9_pixy
Diff: fishgait.h
- Revision:
- 0:aec7653a5b19
- Child:
- 1:0aa1a6ccf5fe
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/fishgait.h Thu Jun 19 17:53:17 2014 +0000
@@ -0,0 +1,24 @@
+#pragma once
+#include "mbed.h"
+
+class fishgait
+{
+protected:
+ Timer* t;
+public:
+ fishgait(); //give the constructor a timer to use
+ ~fishgait();
+ void setTimer(Timer* tObject); //give the instance a timer to base its calculations off of instead of making a new one
+ virtual float compute()=0; //asbtract function to compute output duty cycle. Must redefine in child classes
+};
+
+class triangleGait: public fishgait
+{
+private:
+float frq;
+float amp;
+public:
+triangleGait(float freq, float amplitude);
+//~triangleGait();
+float compute(); //this does a triangle wave pattern. frequency and amplitude controlled
+};
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