Revision 2:d95c40ac8a3e, committed 2014-06-19

Comitter:

sandwich

Date:

Thu Jun 19 21:04:19 2014 +0000

Parent:

1:0aa1a6ccf5fe

Commit message:

sawtooth gait works. working on mixed signals gait;

Changed in this revision

--- a/fishgait.cpp	Thu Jun 19 19:51:59 2014 +0000
+++ b/fishgait.cpp	Thu Jun 19 21:04:19 2014 +0000
@@ -18,7 +18,31 @@
     t=NULL;
     t=tObject;
 }
+/*
+mixedGait::mixedGait() : count(0)
+{
+}
 
+void mixedGait::attach(fishgait gait, float weight)
+{
+    gaits[count]=gait;
+    weights[count]=weight;
+    ++count;
+    return;
+}
+
+void mixedGait::compute()
+{
+    float out=0;
+    if (count==0) //derp
+        return 0.5;
+    //do the mixing
+    for (int i=0; i<count; ++i) {
+        out+=gaits[count].compute()*weights[count];
+    }
+    return out;
+}
+*/
 triangleGait::triangleGait(float freq, float amplitude) : fishgait(), frq(freq), amp(amplitude)
 {
 }
@@ -72,9 +96,35 @@
         t->reset();
     }
     if (direction==true)
-        out=1.0f;
+        out=0.5f+0.5*amp;
+    if (out>1)
+        out=1;
     else if (direction==false)
-        out=0.0f;
-    out*=amp;
+        out=0.5f-0.5*amp;
+    if (out<0)
+        out=0;
+    return out;
+}
+
+sawGait::sawGait(float freq, float amplitude) : fishgait(), frq(freq), amp(amplitude)
+{
+}
+
+float sawGait::compute()
+{
+    float period=(1.0f/frq)*1000; //the period in ms
+    int curtime=t->read_ms(); //read time
+    float out=0;
+    if (curtime>period) {
+        t->reset();
+    }
+    out=float(curtime)/period;
+    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;
 }
\ No newline at end of file

--- 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