jetfishteam / Mbed 2 deprecated jetfish

the fish that looks like a jet

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo

guardian.cpp@12:7eeb29892625, 2014-02-01 (annotated)

Committer:
rkk
Date:
Sat Feb 01 00:03:40 2014 +0000
Revision:
12:7eeb29892625
Parent:
7:e005cfaff8d1 
first design to put to water

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 2:430c068cf570 1 #include "guardian.h"
sandwich 2:430c068cf570 2
rkk 12:7eeb29892625 3 Guardian::Guardian(PinName modpin, PinName gainpin)
rkk 12:7eeb29892625 4 :mod(modpin),
rkk 12:7eeb29892625 5 gain(gainpin)
sandwich 2:430c068cf570 6 {
sandwich 2:430c068cf570 7
rkk 12:7eeb29892625 8 mod.write(0.5); //set autopilot to off
rkk 12:7eeb29892625 9 gain.write(1.00);
sandwich 2:430c068cf570 10 }
sandwich 2:430c068cf570 11
sandwich 5:090ef6275773 12 void Guardian::set3D() //set autopilot to 3D
sandwich 2:430c068cf570 13 {
rkk 12:7eeb29892625 14 mod.write(1.00);
sandwich 2:430c068cf570 15 return;
sandwich 2:430c068cf570 16 }
sandwich 2:430c068cf570 17
sandwich 5:090ef6275773 18 void Guardian::set2D() //set autopilot 2D
sandwich 2:430c068cf570 19 {
rkk 12:7eeb29892625 20 mod.write(0.00);
sandwich 2:430c068cf570 21 return;
sandwich 2:430c068cf570 22 }
sandwich 2:430c068cf570 23
sandwich 2:430c068cf570 24 void Guardian::setoff()
sandwich 2:430c068cf570 25 {
rkk 12:7eeb29892625 26 mod.write(0.5);
sandwich 2:430c068cf570 27 return;
sandwich 2:430c068cf570 28 }
sandwich 2:430c068cf570 29
sandwich 2:430c068cf570 30 void Guardian::calibrate() //must be done within 15 sec of power on
sandwich 2:430c068cf570 31 {
sandwich 2:430c068cf570 32 set2D();
sandwich 7:e005cfaff8d1 33 wait(500);
sandwich 2:430c068cf570 34 set3D();
sandwich 7:e005cfaff8d1 35 wait(500);
sandwich 2:430c068cf570 36 set2D();
sandwich 7:e005cfaff8d1 37 wait(2000);
sandwich 2:430c068cf570 38 //now look for the twitch
sandwich 2:430c068cf570 39 return;
sandwich 2:430c068cf570 40 }
sandwich 2:430c068cf570 41
sandwich 2:430c068cf570 42 void Guardian::setmod(float val)
sandwich 2:430c068cf570 43 {
rkk 12:7eeb29892625 44 mod.write(val);
sandwich 2:430c068cf570 45 return;
sandwich 2:430c068cf570 46 }
sandwich 2:430c068cf570 47
rkk 12:7eeb29892625 48 void Guardian::setgain(float val)
sandwich 2:430c068cf570 49 {
rkk 12:7eeb29892625 50 gain.write(val);
sandwich 2:430c068cf570 51 return;
sandwich 2:430c068cf570 52 }