jetfishteam / Mbed 2 deprecated robotic_fish_ver_4_9_pixy

My modifications/additions to the code

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 Servo fishgait mbed-rtos mbed pixy_cam

Fork of robotic_fish_ver_4_8 by jetfishteam

PwmIn.h@8:0574a5db1fc4, 2014-01-31 (annotated)

Committer:
rkk
Date:
Fri Jan 31 04:33:44 2014 +0000
Revision:
8:0574a5db1fc4
updated the motor controller and the pwmin method

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rkk 8:0574a5db1fc4 1
rkk 8:0574a5db1fc4 2 #ifndef MBED_PWMIN_H
rkk 8:0574a5db1fc4 3 #define MBED_PWMIN_H
rkk 8:0574a5db1fc4 4
rkk 8:0574a5db1fc4 5 #include "mbed.h"
rkk 8:0574a5db1fc4 6
rkk 8:0574a5db1fc4 7 /** PwmIn class to read PWM inputs
rkk 8:0574a5db1fc4 8 *
rkk 8:0574a5db1fc4 9 * Uses InterruptIn to measure the changes on the input
rkk 8:0574a5db1fc4 10 * and record the time they occur
rkk 8:0574a5db1fc4 11 *
rkk 8:0574a5db1fc4 12 * @note uses InterruptIn, so not available on p19/p20
rkk 8:0574a5db1fc4 13 */
rkk 8:0574a5db1fc4 14 class PwmIn {
rkk 8:0574a5db1fc4 15 public:
rkk 8:0574a5db1fc4 16 /** Create a PwmIn
rkk 8:0574a5db1fc4 17 *
rkk 8:0574a5db1fc4 18 * @param p The pwm input pin (must support InterruptIn)
rkk 8:0574a5db1fc4 19 */
rkk 8:0574a5db1fc4 20 PwmIn(PinName p, float dutyMin, float dutyMax) ;
rkk 8:0574a5db1fc4 21
rkk 8:0574a5db1fc4 22 /** Read the current period
rkk 8:0574a5db1fc4 23 *
rkk 8:0574a5db1fc4 24 * @returns the period in seconds
rkk 8:0574a5db1fc4 25 */
rkk 8:0574a5db1fc4 26 float period();
rkk 8:0574a5db1fc4 27
rkk 8:0574a5db1fc4 28 /** Read the current pulsewidth
rkk 8:0574a5db1fc4 29 *
rkk 8:0574a5db1fc4 30 * @returns the pulsewidth in seconds
rkk 8:0574a5db1fc4 31 */
rkk 8:0574a5db1fc4 32 float pulsewidth();
rkk 8:0574a5db1fc4 33
rkk 8:0574a5db1fc4 34 /** Read the current dutycycle
rkk 8:0574a5db1fc4 35 *
rkk 8:0574a5db1fc4 36 * @returns the dutycycle as a percentage, represented between 0.0-1.0
rkk 8:0574a5db1fc4 37 */
rkk 8:0574a5db1fc4 38 float dutycycle();
rkk 8:0574a5db1fc4 39
rkk 8:0574a5db1fc4 40 float dutycyclescaledup();
rkk 8:0574a5db1fc4 41
rkk 8:0574a5db1fc4 42 protected:
rkk 8:0574a5db1fc4 43 void rise();
rkk 8:0574a5db1fc4 44 void fall();
rkk 8:0574a5db1fc4 45
rkk 8:0574a5db1fc4 46 InterruptIn _p;
rkk 8:0574a5db1fc4 47 Timer _t;
rkk 8:0574a5db1fc4 48 int _pulsewidth, _period;
rkk 8:0574a5db1fc4 49 int _tmp;
rkk 8:0574a5db1fc4 50 float _dutyMin, _dutyMax, _dutyDelta;
rkk 8:0574a5db1fc4 51
rkk 8:0574a5db1fc4 52 bool _risen;
rkk 8:0574a5db1fc4 53 };
rkk 8:0574a5db1fc4 54
rkk 8:0574a5db1fc4 55 #endif