the fish that looks like a jet
Dependencies: ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo
motor_controller.h
- Committer:
- rkk
- Date:
- 2014-01-31
- Revision:
- 11:8ec915eb70f6
- Parent:
- 10:d9f1037f0cb0
- Child:
- 12:7eeb29892625
File content as of revision 11:8ec915eb70f6:
#pragma once #include "mbed.h" #define FREQ_MIN 0.5 //Hz #define FREQ_MAX 3 //Hz float sigm(float input); class PololuMController { private: PwmOut pwm; DigitalOut outA; DigitalOut outB; //float timestamp; // //for driving // float phi1, ome1,amp1; // bool firstTime; // // Timer t; public: PololuMController(); PololuMController(PinName pwmport, PinName A, PinName B); //void setspeed(float speed); //0 to 1 void setpolarspeed(float speed); //-1 to 1 //void reverse(); //only works on non-polar speed //float drive_sinusoidal(float currentTime, float amplitude, float frequency); //void drive_rectangular(float currentTime, float amplitude, float frequency); };