fishgait.cpp

00001 #include "fishgait.h"
00002 
00003 fishgait::fishgait()
00004 {
00005     t=new Timer();
00006     t->start();
00007 }
00008 
00009 fishgait::~fishgait()
00010 {
00011     t->stop();
00012     delete t;
00013 }
00014 
00015 void fishgait::setTimer(Timer* tObject)
00016 {
00017     delete t; //not sure if this is safe
00018     t=NULL;
00019     t=tObject;
00020 }
00021 /*
00022 mixedGait::mixedGait() : count(0)
00023 {
00024 }
00025 
00026 void mixedGait::attach(fishgait gait, float weight)
00027 {
00028     gaits[count]=gait;
00029     weights[count]=weight;
00030     ++count;
00031     return;
00032 }
00033 
00034 void mixedGait::compute()
00035 {
00036     float out=0;
00037     if (count==0) //derp
00038         return 0.5;
00039     //do the mixing
00040     for (int i=0; i<count; ++i) {
00041         out+=gaits[count].compute()*weights[count];
00042     }
00043     return out;
00044 }
00045 */
00046 triangleGait::triangleGait(float freq, float amplitude) : fishgait(), frq(freq), amp(amplitude)
00047 {
00048 }
00049 /*
00050 triangleGait::~triangleGait()
00051 {
00052 }
00053 */
00054 
00055 float triangleGait::compute()
00056 {
00057     float halfperiod=(1.0f/(frq/2.0f))*1000; //the half period in ms
00058     int curtime=t->read_ms(); //read time
00059     static bool direction=true; //true-> up, false->down
00060     float out=0;
00061     if (curtime>halfperiod) {
00062         direction=!direction;
00063         t->reset();
00064     }
00065     if (direction==true)
00066         out=float(curtime)/halfperiod;
00067     else if (direction==false)
00068         out=1.0f-(float(curtime)/halfperiod);
00069     out-=0.5; //recenter the wave around 0 instead of 0.5
00070     out*=amp; //factor in amplitude
00071     out+=0.5; //recenter around 0.5
00072     if (out>1)
00073         out=1;
00074     else if (out<0)
00075         out=0;
00076     return out;
00077 }
00078 
00079 squareGait::squareGait(float freq, float amplitude) : fishgait(), frq(freq), amp(amplitude)
00080 {
00081 }
00082 /*
00083 triangleGait::~triangleGait()
00084 {
00085 }
00086 */
00087 
00088 float squareGait::compute()
00089 {
00090     float halfperiod=(1.0f/(frq/2.0f))*1000; //the half period in ms
00091     int curtime=t->read_ms(); //read time
00092     static bool direction=true; //true-> up, false->down
00093     float out=0;
00094     if (curtime>halfperiod) {
00095         direction=!direction;
00096         t->reset();
00097     }
00098     if (direction==true)
00099         out=0.5f+0.5*amp;
00100     if (out>1)
00101         out=1;
00102     else if (direction==false)
00103         out=0.5f-0.5*amp;
00104     if (out<0)
00105         out=0;
00106     return out;
00107 }
00108 
00109 sawGait::sawGait(float freq, float amplitude) : fishgait(), frq(freq), amp(amplitude)
00110 {
00111 }
00112 
00113 float sawGait::compute()
00114 {
00115     float period=(1.0f/frq)*1000; //the period in ms
00116     int curtime=t->read_ms(); //read time
00117     float out=0;
00118     if (curtime>period) {
00119         t->reset();
00120     }
00121     out=float(curtime)/period;
00122     out-=0.5; //recenter the wave around 0 instead of 0.5
00123     out*=amp; //factor in amplitude
00124     out+=0.5; //recenter around 0.5
00125     if (out>1)
00126         out=1;
00127     else if (out<0)
00128         out=0;
00129     return out;
00130 }