File content as of revision 0:aec7653a5b19:

#include "fishgait.h"

fishgait::fishgait()
{
    t=new Timer();
    t->start();
}

fishgait::~fishgait()
{
    t->stop();
    delete t;
}

void fishgait::setTimer(Timer* tObject)
{
    delete t; //not sure if this is safe
    t=NULL;
    t=tObject;
}

triangleGait::triangleGait(float freq, float amplitude) : fishgait(), frq(freq), amp(amplitude)
{
}
/*
triangleGait::~triangleGait()
{
}
*/

float triangleGait::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=float(curtime)/halfperiod;
    else if (direction==false)
        out=1.0f-(float(curtime)/halfperiod);
    out*=amp;
    if (out>1)
        out=1;
    else if (out<0)
        out=0;
    return out;
}