jetfishteam / Mbed 2 deprecated jetfish

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?

UserRevisionLine numberNew 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 };