![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
the fish that looks like a jet
Dependencies: ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo
Diff: motor_controller.h
- Revision:
- 7:e005cfaff8d1
- Parent:
- 6:a4d6f3e4bf28
- Child:
- 8:0574a5db1fc4
diff -r a4d6f3e4bf28 -r e005cfaff8d1 motor_controller.h --- a/motor_controller.h Wed Jan 29 05:04:50 2014 +0000 +++ b/motor_controller.h Thu Jan 30 02:04:23 2014 +0000 @@ -2,7 +2,9 @@ #include "mbed.h" #define MATH_PI 3.14159265359 #define FREQ_MIN 0.5 //Hz -#define FREQ_MAX 8 //Hz +#define FREQ_MAX 3 //Hz + +float sigm(float input); class PololuMController { @@ -19,4 +21,5 @@ void setpolarspeed(float speed); //-1 to 1 void reverse(); //only works on non-polar speed void drive_sinusoidal(float currentTime, float dutyCycle, float frequency); + void drive_rectangular(float currentTime, float amplitude, float frequency); }; \ No newline at end of file