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

MainController.h@19:655db88b045c, 2014-05-28 (annotated)

Committer:
rkk
Date:
Wed May 28 01:48:23 2014 +0000
Revision:
19:655db88b045c
Parent:
18:9ba4566f2361
Child:
20:6ae16da1492a
added yaw controller with adjustable frequency for either half to do a turning motion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rkk 11:8ec915eb70f6 1 #ifndef MBED_MAINCONTROLLER_H
rkk 11:8ec915eb70f6 2 #define MBED_MAINCONTROLLER_H
rkk 11:8ec915eb70f6 3
rkk 11:8ec915eb70f6 4 #include "mbed.h"
rkk 11:8ec915eb70f6 5 #include "PwmIn.h"
rkk 11:8ec915eb70f6 6 #include "motor_controller.h"
rkk 12:7eeb29892625 7 #include "guardian.h"
rkk 12:7eeb29892625 8 //#include "IMU.h"
rkk 17:6970aef8154b 9 #include "Servo.h"
rkk 17:6970aef8154b 10
rkk 12:7eeb29892625 11
rkk 11:8ec915eb70f6 12
rkk 11:8ec915eb70f6 13 #define MATH_PI 3.14159265359
rkk 11:8ec915eb70f6 14
rkk 11:8ec915eb70f6 15 /** MainController class to get control inputs and place them onto the system
rkk 11:8ec915eb70f6 16 *
rkk 11:8ec915eb70f6 17 *
rkk 11:8ec915eb70f6 18 */
rkk 11:8ec915eb70f6 19 class MainController {
rkk 11:8ec915eb70f6 20 public:
rkk 11:8ec915eb70f6 21 /** Create a MainController
rkk 11:8ec915eb70f6 22 *
rkk 11:8ec915eb70f6 23 * @param
rkk 11:8ec915eb70f6 24 */
rkk 11:8ec915eb70f6 25 MainController() ;
rkk 11:8ec915eb70f6 26
rkk 11:8ec915eb70f6 27 /** Start the main controller
rkk 11:8ec915eb70f6 28 *
rkk 11:8ec915eb70f6 29 * @returns
rkk 11:8ec915eb70f6 30 */
rkk 11:8ec915eb70f6 31 void start();
rkk 11:8ec915eb70f6 32
rkk 11:8ec915eb70f6 33 float getDutyCycle();
rkk 11:8ec915eb70f6 34 float getFrequency();
rkk 11:8ec915eb70f6 35 float getVolume();
rkk 11:8ec915eb70f6 36 float getAmplitude();
rkk 19:655db88b045c 37 float getYaw();
rkk 17:6970aef8154b 38 float getPitch();
rkk 19:655db88b045c 39 float getTimeAdd();
rkk 11:8ec915eb70f6 40
rkk 11:8ec915eb70f6 41 /** Stop the main controller
rkk 11:8ec915eb70f6 42 *
rkk 11:8ec915eb70f6 43 * @returns
rkk 11:8ec915eb70f6 44 */
rkk 11:8ec915eb70f6 45 void stop();
rkk 11:8ec915eb70f6 46
rkk 11:8ec915eb70f6 47
rkk 11:8ec915eb70f6 48 protected:
rkk 11:8ec915eb70f6 49 void control();
rkk 11:8ec915eb70f6 50 float calculateFrequency();
rkk 19:655db88b045c 51 float calculateAmplitude();
rkk 19:655db88b045c 52 float calculateYaw();
rkk 17:6970aef8154b 53 float calculatePitch();
rkk 13:5ed8fd870723 54 float signum(float input);
rkk 15:dc5753a5b83e 55 float saturate(float input);
rkk 11:8ec915eb70f6 56
rkk 11:8ec915eb70f6 57 private:
rkk 17:6970aef8154b 58 PwmIn ch1;
rkk 17:6970aef8154b 59 PwmIn ch2;
rkk 11:8ec915eb70f6 60 PwmIn ch3;
rkk 12:7eeb29892625 61 PwmIn ch4;
rkk 11:8ec915eb70f6 62 PwmIn ch6;
rkk 11:8ec915eb70f6 63 PololuMController mcon;
rkk 12:7eeb29892625 64 Guardian ap;
rkk 18:9ba4566f2361 65 //Servo leftservo;
rkk 18:9ba4566f2361 66 //Servo rightservo;
rkk 12:7eeb29892625 67
rkk 11:8ec915eb70f6 68 Timer timer1;
rkk 11:8ec915eb70f6 69 Ticker ticker1;
rkk 19:655db88b045c 70 float amp;
rkk 11:8ec915eb70f6 71 float frq;
rkk 11:8ec915eb70f6 72 float dutyCycle;
rkk 11:8ec915eb70f6 73 float curTime;
rkk 11:8ec915eb70f6 74 float frqMin;
rkk 11:8ec915eb70f6 75 float frqMax;
rkk 19:655db88b045c 76 float yaw;
rkk 17:6970aef8154b 77 float pitch;
rkk 17:6970aef8154b 78
rkk 19:655db88b045c 79 bool fullCycle;
rkk 19:655db88b045c 80 float volume;
rkk 19:655db88b045c 81 float volChg;
rkk 19:655db88b045c 82 float volMax;
rkk 19:655db88b045c 83 float frqCmd;
rkk 19:655db88b045c 84 float timeAdd;
rkk 19:655db88b045c 85 float ampNew;
rkk 19:655db88b045c 86 float ampCmd;
rkk 19:655db88b045c 87 //int state;
rkk 19:655db88b045c 88 //int change;
rkk 17:6970aef8154b 89 //float goofftime;
rkk 17:6970aef8154b 90 //bool switched;
rkk 11:8ec915eb70f6 91 };
rkk 11:8ec915eb70f6 92
rkk 11:8ec915eb70f6 93 #endif
rkk 11:8ec915eb70f6 94
rkk 11:8ec915eb70f6 95