the fish that looks like a jet
Dependencies: ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo
MainController.h
00001 #ifndef MBED_MAINCONTROLLER_H 00002 #define MBED_MAINCONTROLLER_H 00003 00004 #include "mbed.h" 00005 #include "PwmIn.h" 00006 #include "motor_controller.h" 00007 #include "guardian.h" 00008 //#include "IMU.h" 00009 00010 00011 #define MATH_PI 3.14159265359 00012 00013 /** MainController class to get control inputs and place them onto the system 00014 * 00015 * 00016 */ 00017 class MainController { 00018 public: 00019 /** Create a MainController 00020 * 00021 * @param 00022 */ 00023 MainController() ; 00024 00025 /** Start the main controller 00026 * 00027 * @returns 00028 */ 00029 void start(); 00030 00031 float getDutyCycle(); 00032 float getFrequency(); 00033 float getVolume(); 00034 float getAmplitude(); 00035 float getRudder(); 00036 00037 /** Stop the main controller 00038 * 00039 * @returns 00040 */ 00041 void stop(); 00042 00043 00044 protected: 00045 void control(); 00046 float calculateFrequency(); 00047 float calculateVolume(); 00048 float calculateRudder(); 00049 float signum(float input); 00050 float saturate(float input); 00051 00052 private: 00053 PwmIn ch3; 00054 PwmIn ch4; 00055 PwmIn ch6; 00056 PololuMController mcon; 00057 Guardian ap; 00058 00059 00060 Timer timer1; 00061 Ticker ticker1; 00062 float vol; 00063 float frq; 00064 float dutyCycle; 00065 float curTime; 00066 float frqMin; 00067 float frqMax; 00068 float amplitude; 00069 float rud; 00070 float goofftime; 00071 bool switched; 00072 }; 00073 00074 #endif 00075 00076
Generated on Mon Jul 25 2022 21:18:46 by 1.7.2