Revision 13:5ed8fd870723, committed 2014-02-03

Comitter:

rkk

Date:

Mon Feb 03 21:04:35 2014 +0000

Parent:

12:7eeb29892625

Child:

14:a5389e26a63b

Commit message:

change control approach to have bang bang and impulse length defining

Changed in this revision

--- a/MainController.cpp	Sat Feb 01 00:03:40 2014 +0000
+++ b/MainController.cpp	Mon Feb 03 21:04:35 2014 +0000
@@ -13,7 +13,8 @@
     rud = 0.5;
     frqMin = 0.5; // hardcoded
     frqMax = 3.0; //hardcoded
-    frqmxsqrt = sqrt(frqMax);
+    goofftime = 0.0;
+    switched = false;
 }
 
 void MainController::control()
@@ -23,14 +24,36 @@
         //read new inputs
         vol = this->calculateVolume();
         frq = this->calculateFrequency();
+        rud = this->calculateRudder(); //not used right now
         timer1.reset();
         curTime = 0.0;
+        switched = false;
+        goofftime = (1/(2*frq)*vol);
+        amplitude = 1.0;
+        
     }
     
-    rud = this->calculateRudder(); //not used right now
-    amplitude = vol * sqrt(frq)/frqmxsqrt;
-    dutyCycle = amplitude * sin( 2.0 * MATH_PI * frq * curTime );
-    //sigm for alternative driving mode
+    //vol * sqrt(frq)/frqmxsqrt;
+    
+    if (curTime > 1/(2*frq))
+    {
+        switched = true;
+        amplitude = -1.0;
+     }
+        
+    if(!switched)
+    {
+        if(curTime > goofftime )
+        amplitude = 0.0;
+    }
+    else
+    {
+        if(curTime > (1/(2*frq)+goofftime))
+        amplitude = 0.0;
+    }
+
+    dutyCycle = amplitude * signum(sin( 2.0 * MATH_PI * frq * curTime ));
+
     mcon.setpolarspeed(dutyCycle);
 }
 
@@ -95,12 +118,12 @@
 }
 
 //
-//float MainController::sigm(float input)
-//{
-//    if (input>0)
-//        return 1;
-//    else if (input<0)
-//        return -1;
-//    else
-//        return 0;
-//}
\ No newline at end of file
+float MainController::signum(float input)
+{
+    if (input>0.0)
+        return 1;
+    else if (input<0.0)
+        return -1;
+    else
+        return 0;
+}
\ No newline at end of file

--- a/MainController.h	Sat Feb 01 00:03:40 2014 +0000
+++ b/MainController.h	Mon Feb 03 21:04:35 2014 +0000
@@ -46,6 +46,7 @@
     float calculateFrequency();
     float calculateVolume();
     float calculateRudder();
+    float signum(float input);
     
 private:
     PwmIn ch3;
@@ -65,7 +66,8 @@
     float frqMax;
     float amplitude;
     float rud;
-    float frqmxsqrt;
+    float goofftime;
+    bool switched;
 };
  
 #endif