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:
- 2:d95c40ac8a3e
- Parent:
- 1:0aa1a6ccf5fe
diff -r 0aa1a6ccf5fe -r d95c40ac8a3e fishgait.h --- a/fishgait.h Thu Jun 19 19:51:59 2014 +0000 +++ b/fishgait.h Thu Jun 19 21:04:19 2014 +0000 @@ -1,5 +1,6 @@ #pragma once #include "mbed.h" +#define MAXGAITS 10 class fishgait { @@ -11,25 +12,48 @@ 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 mixedGait : public fishgait +{ + private: + fishgait gaits[MAXGAITS]; + float weights[MAXGAITS]; + int count; + public: + mixedGait(); + void attach(fishgait gait, float weight); //gait to attach and its weight in the overall result. weights will be normalized + float compute(); //return the mixed signal pattern +}; +*/ class triangleGait: public fishgait { private: -float frq; -float amp; + float frq; + float amp; public: -triangleGait(float freq, float amplitude); + triangleGait(float freq, float amplitude); //~triangleGait(); -float compute(); //this does a triangle wave pattern. frequency and amplitude controlled + float compute(); //this does a triangle wave pattern. frequency and amplitude controlled }; class squareGait: public fishgait { private: -float frq; -float amp; + float frq; + float amp; public: -squareGait(float freq, float amplitude); + squareGait(float freq, float amplitude); //~triangleGait(); -float compute(); //this does a triangle wave pattern. frequency and amplitude controlled + float compute(); //this does a triangle wave pattern. frequency and amplitude controlled +}; + +class sawGait: public fishgait +{ +private: + float frq; + float amp; +public: + sawGait(float freq, float amplitude); +//~triangleGait(); + float compute(); //this does a triangle wave pattern. frequency and amplitude controlled }; \ No newline at end of file