jetfishteam / Mbed 2 deprecated jetfish

the fish that looks like a jet

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo

MainController.cpp@11:8ec915eb70f6, 2014-01-31 (annotated)

Committer:
rkk
Date:
Fri Jan 31 19:36:28 2014 +0000
Revision:
11:8ec915eb70f6
Child:
12:7eeb29892625
added main controller and control amplitude and frequency of fish tail properly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rkk 11:8ec915eb70f6 1 #include "MainController.h"
rkk 11:8ec915eb70f6 2
rkk 11:8ec915eb70f6 3 MainController::MainController()
rkk 11:8ec915eb70f6 4 :ch3(p16,0.054,0.092),
rkk 11:8ec915eb70f6 5 ch6(p15,0.055,0.092),
rkk 11:8ec915eb70f6 6 mcon(p22, p6, p5)
rkk 11:8ec915eb70f6 7 {
rkk 11:8ec915eb70f6 8 wait_ms(100);
rkk 11:8ec915eb70f6 9 vol = 0.0;
rkk 11:8ec915eb70f6 10 frq = 10.0;
rkk 11:8ec915eb70f6 11 frqMin = 0.5; // hardcoded
rkk 11:8ec915eb70f6 12 frqMax = 3.0; //hardcoded
rkk 11:8ec915eb70f6 13 }
rkk 11:8ec915eb70f6 14
rkk 11:8ec915eb70f6 15 void MainController::control()
rkk 11:8ec915eb70f6 16 {
rkk 11:8ec915eb70f6 17 curTime = timer1.read();
rkk 11:8ec915eb70f6 18 if(curTime > 1/frq) {
rkk 11:8ec915eb70f6 19 //read new inputs
rkk 11:8ec915eb70f6 20 vol = this->calculateVolume();
rkk 11:8ec915eb70f6 21 frq = this->calculateFrequency();
rkk 11:8ec915eb70f6 22 timer1.reset();
rkk 11:8ec915eb70f6 23 curTime = 0.0;
rkk 11:8ec915eb70f6 24 }
rkk 11:8ec915eb70f6 25 amplitude = vol * frq /frqMax;
rkk 11:8ec915eb70f6 26 dutyCycle = amplitude * sin( 2.0 * MATH_PI * frq * curTime );
rkk 11:8ec915eb70f6 27 mcon.setpolarspeed(dutyCycle);
rkk 11:8ec915eb70f6 28 }
rkk 11:8ec915eb70f6 29 float MainController::calculateFrequency()
rkk 11:8ec915eb70f6 30 {
rkk 11:8ec915eb70f6 31 return ((frqMax - frqMin) * ch3.dutycyclescaledup() + frqMin);
rkk 11:8ec915eb70f6 32 }
rkk 11:8ec915eb70f6 33
rkk 11:8ec915eb70f6 34 float MainController::calculateVolume()
rkk 11:8ec915eb70f6 35 {
rkk 11:8ec915eb70f6 36 return (ch6.dutycyclescaledup());
rkk 11:8ec915eb70f6 37 }
rkk 11:8ec915eb70f6 38
rkk 11:8ec915eb70f6 39 void MainController::start()
rkk 11:8ec915eb70f6 40 {
rkk 11:8ec915eb70f6 41 timer1.start();
rkk 11:8ec915eb70f6 42 ticker1.attach(this, &MainController::control,0.0005);
rkk 11:8ec915eb70f6 43 }
rkk 11:8ec915eb70f6 44
rkk 11:8ec915eb70f6 45 void MainController::stop()
rkk 11:8ec915eb70f6 46 {
rkk 11:8ec915eb70f6 47 timer1.stop();
rkk 11:8ec915eb70f6 48 ticker1.detach();
rkk 11:8ec915eb70f6 49 mcon.setpolarspeed(0.0);
rkk 11:8ec915eb70f6 50 }
rkk 11:8ec915eb70f6 51
rkk 11:8ec915eb70f6 52 float MainController::getDutyCycle()
rkk 11:8ec915eb70f6 53 {
rkk 11:8ec915eb70f6 54 return dutyCycle;
rkk 11:8ec915eb70f6 55 }
rkk 11:8ec915eb70f6 56
rkk 11:8ec915eb70f6 57 float MainController::getAmplitude()
rkk 11:8ec915eb70f6 58 {
rkk 11:8ec915eb70f6 59 return amplitude;
rkk 11:8ec915eb70f6 60 }
rkk 11:8ec915eb70f6 61
rkk 11:8ec915eb70f6 62
rkk 11:8ec915eb70f6 63 float MainController::getFrequency()
rkk 11:8ec915eb70f6 64 {
rkk 11:8ec915eb70f6 65 return frq;
rkk 11:8ec915eb70f6 66 }
rkk 11:8ec915eb70f6 67
rkk 11:8ec915eb70f6 68 float MainController::getVolume()
rkk 11:8ec915eb70f6 69 {
rkk 11:8ec915eb70f6 70 return vol;
rkk 11:8ec915eb70f6 71 }