fishgait.h

00001 #pragma once
00002 #include "mbed.h"
00003 #define MAXGAITS 10
00004 
00005 class fishgait
00006 {
00007 protected:
00008     Timer* t;
00009 public:
00010     fishgait(); //give the constructor a timer to use
00011     ~fishgait();
00012     void setTimer(Timer* tObject); //give the instance a timer to base its calculations off of instead of making a new one
00013     virtual float compute()=0; //asbtract function to compute output duty cycle. Must redefine in child classes
00014 };
00015 /*
00016 class mixedGait : public fishgait
00017 {
00018     private:
00019     fishgait gaits[MAXGAITS];
00020     float weights[MAXGAITS];
00021     int count;
00022     public:
00023     mixedGait();
00024     void attach(fishgait gait, float weight); //gait to attach and its weight in the overall result. weights will be normalized
00025     float compute(); //return the mixed signal pattern
00026 };
00027 */
00028 class triangleGait: public fishgait
00029 {
00030 private:
00031     float frq;
00032     float amp;
00033 public:
00034     triangleGait(float freq, float amplitude);
00035 //~triangleGait();
00036     float compute(); //this does a triangle wave pattern. frequency and amplitude controlled
00037 };
00038 
00039 class squareGait: public fishgait
00040 {
00041 private:
00042     float frq;
00043     float amp;
00044 public:
00045     squareGait(float freq, float amplitude);
00046 //~triangleGait();
00047     float compute(); //this does a triangle wave pattern. frequency and amplitude controlled
00048 };
00049 
00050 class sawGait: public fishgait
00051 {
00052 private:
00053     float frq;
00054     float amp;
00055 public:
00056     sawGait(float freq, float amplitude);
00057 //~triangleGait();
00058     float compute(); //this does a triangle wave pattern. frequency and amplitude controlled
00059 };