the fish that looks like a jet
Dependencies: ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo
motor_controller.h@11:8ec915eb70f6, 2014-01-31 (annotated)
- Committer:
- rkk
- Date:
- Fri Jan 31 19:36:28 2014 +0000
- Revision:
- 11:8ec915eb70f6
- Parent:
- 10:d9f1037f0cb0
- Child:
- 12:7eeb29892625
added main controller and control amplitude and frequency of fish tail properly
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sandwich | 0:ff9bc5f69c57 | 1 | #pragma once |
sandwich | 0:ff9bc5f69c57 | 2 | #include "mbed.h" |
rkk | 11:8ec915eb70f6 | 3 | |
rkk | 6:a4d6f3e4bf28 | 4 | #define FREQ_MIN 0.5 //Hz |
sandwich | 7:e005cfaff8d1 | 5 | #define FREQ_MAX 3 //Hz |
sandwich | 7:e005cfaff8d1 | 6 | |
sandwich | 7:e005cfaff8d1 | 7 | float sigm(float input); |
sandwich | 0:ff9bc5f69c57 | 8 | |
sandwich | 0:ff9bc5f69c57 | 9 | class PololuMController |
sandwich | 0:ff9bc5f69c57 | 10 | { |
sandwich | 0:ff9bc5f69c57 | 11 | private: |
rkk | 11:8ec915eb70f6 | 12 | PwmOut pwm; |
rkk | 11:8ec915eb70f6 | 13 | DigitalOut outA; |
rkk | 11:8ec915eb70f6 | 14 | DigitalOut outB; |
rkk | 11:8ec915eb70f6 | 15 | //float timestamp; |
rkk | 8:0574a5db1fc4 | 16 | |
rkk | 11:8ec915eb70f6 | 17 | // //for driving |
rkk | 11:8ec915eb70f6 | 18 | // float phi1, ome1,amp1; |
rkk | 11:8ec915eb70f6 | 19 | // bool firstTime; |
rkk | 11:8ec915eb70f6 | 20 | // |
rkk | 11:8ec915eb70f6 | 21 | // Timer t; |
rkk | 11:8ec915eb70f6 | 22 | |
rkk | 8:0574a5db1fc4 | 23 | |
sandwich | 0:ff9bc5f69c57 | 24 | public: |
sandwich | 0:ff9bc5f69c57 | 25 | PololuMController(); |
sandwich | 0:ff9bc5f69c57 | 26 | PololuMController(PinName pwmport, PinName A, PinName B); |
rkk | 11:8ec915eb70f6 | 27 | //void setspeed(float speed); //0 to 1 |
sandwich | 0:ff9bc5f69c57 | 28 | void setpolarspeed(float speed); //-1 to 1 |
rkk | 11:8ec915eb70f6 | 29 | //void reverse(); //only works on non-polar speed |
rkk | 11:8ec915eb70f6 | 30 | //float drive_sinusoidal(float currentTime, float amplitude, float frequency); |
rkk | 11:8ec915eb70f6 | 31 | //void drive_rectangular(float currentTime, float amplitude, float frequency); |
sandwich | 0:ff9bc5f69c57 | 32 | }; |