jetfishteam
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);
};
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