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
MainController.cpp@12:7eeb29892625, 2014-02-01 (annotated)
- Committer:
- rkk
- Date:
- Sat Feb 01 00:03:40 2014 +0000
- Revision:
- 12:7eeb29892625
- Parent:
- 11:8ec915eb70f6
- Child:
- 13:5ed8fd870723
first design to put to water
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rkk | 11:8ec915eb70f6 | 1 | #include "MainController.h" |
rkk | 11:8ec915eb70f6 | 2 | |
rkk | 11:8ec915eb70f6 | 3 | MainController::MainController() |
rkk | 12:7eeb29892625 | 4 | :ch3(p16,0.054,0.092), // frequency |
rkk | 12:7eeb29892625 | 5 | ch4(p17,0.055,0.092), //rudder |
rkk | 12:7eeb29892625 | 6 | ch6(p15,0.055,0.092), //volume |
rkk | 12:7eeb29892625 | 7 | mcon(p22, p6, p5), |
rkk | 12:7eeb29892625 | 8 | ap(p25, p26) |
rkk | 11:8ec915eb70f6 | 9 | { |
rkk | 12:7eeb29892625 | 10 | wait_ms(50); |
rkk | 11:8ec915eb70f6 | 11 | vol = 0.0; |
rkk | 11:8ec915eb70f6 | 12 | frq = 10.0; |
rkk | 12:7eeb29892625 | 13 | rud = 0.5; |
rkk | 11:8ec915eb70f6 | 14 | frqMin = 0.5; // hardcoded |
rkk | 11:8ec915eb70f6 | 15 | frqMax = 3.0; //hardcoded |
rkk | 12:7eeb29892625 | 16 | frqmxsqrt = sqrt(frqMax); |
rkk | 11:8ec915eb70f6 | 17 | } |
rkk | 11:8ec915eb70f6 | 18 | |
rkk | 11:8ec915eb70f6 | 19 | void MainController::control() |
rkk | 11:8ec915eb70f6 | 20 | { |
rkk | 11:8ec915eb70f6 | 21 | curTime = timer1.read(); |
rkk | 11:8ec915eb70f6 | 22 | if(curTime > 1/frq) { |
rkk | 11:8ec915eb70f6 | 23 | //read new inputs |
rkk | 11:8ec915eb70f6 | 24 | vol = this->calculateVolume(); |
rkk | 11:8ec915eb70f6 | 25 | frq = this->calculateFrequency(); |
rkk | 11:8ec915eb70f6 | 26 | timer1.reset(); |
rkk | 11:8ec915eb70f6 | 27 | curTime = 0.0; |
rkk | 11:8ec915eb70f6 | 28 | } |
rkk | 12:7eeb29892625 | 29 | |
rkk | 12:7eeb29892625 | 30 | rud = this->calculateRudder(); //not used right now |
rkk | 12:7eeb29892625 | 31 | amplitude = vol * sqrt(frq)/frqmxsqrt; |
rkk | 11:8ec915eb70f6 | 32 | dutyCycle = amplitude * sin( 2.0 * MATH_PI * frq * curTime ); |
rkk | 12:7eeb29892625 | 33 | //sigm for alternative driving mode |
rkk | 11:8ec915eb70f6 | 34 | mcon.setpolarspeed(dutyCycle); |
rkk | 11:8ec915eb70f6 | 35 | } |
rkk | 12:7eeb29892625 | 36 | |
rkk | 12:7eeb29892625 | 37 | |
rkk | 11:8ec915eb70f6 | 38 | float MainController::calculateFrequency() |
rkk | 11:8ec915eb70f6 | 39 | { |
rkk | 11:8ec915eb70f6 | 40 | return ((frqMax - frqMin) * ch3.dutycyclescaledup() + frqMin); |
rkk | 11:8ec915eb70f6 | 41 | } |
rkk | 11:8ec915eb70f6 | 42 | |
rkk | 11:8ec915eb70f6 | 43 | float MainController::calculateVolume() |
rkk | 11:8ec915eb70f6 | 44 | { |
rkk | 11:8ec915eb70f6 | 45 | return (ch6.dutycyclescaledup()); |
rkk | 11:8ec915eb70f6 | 46 | } |
rkk | 11:8ec915eb70f6 | 47 | |
rkk | 12:7eeb29892625 | 48 | float MainController::calculateRudder() |
rkk | 12:7eeb29892625 | 49 | { |
rkk | 12:7eeb29892625 | 50 | return (ch4.dutycyclescaledup()); |
rkk | 12:7eeb29892625 | 51 | } |
rkk | 12:7eeb29892625 | 52 | |
rkk | 11:8ec915eb70f6 | 53 | void MainController::start() |
rkk | 11:8ec915eb70f6 | 54 | { |
rkk | 11:8ec915eb70f6 | 55 | timer1.start(); |
rkk | 12:7eeb29892625 | 56 | ticker1.attach(this, &MainController::control,0.001); |
rkk | 12:7eeb29892625 | 57 | //Autopilot guardian |
rkk | 12:7eeb29892625 | 58 | //ap.calibrate(); |
rkk | 12:7eeb29892625 | 59 | //ap.set2D(); |
rkk | 12:7eeb29892625 | 60 | ap.setoff(); |
rkk | 12:7eeb29892625 | 61 | |
rkk | 11:8ec915eb70f6 | 62 | } |
rkk | 11:8ec915eb70f6 | 63 | |
rkk | 11:8ec915eb70f6 | 64 | void MainController::stop() |
rkk | 11:8ec915eb70f6 | 65 | { |
rkk | 11:8ec915eb70f6 | 66 | timer1.stop(); |
rkk | 11:8ec915eb70f6 | 67 | ticker1.detach(); |
rkk | 11:8ec915eb70f6 | 68 | mcon.setpolarspeed(0.0); |
rkk | 11:8ec915eb70f6 | 69 | } |
rkk | 11:8ec915eb70f6 | 70 | |
rkk | 11:8ec915eb70f6 | 71 | float MainController::getDutyCycle() |
rkk | 11:8ec915eb70f6 | 72 | { |
rkk | 11:8ec915eb70f6 | 73 | return dutyCycle; |
rkk | 11:8ec915eb70f6 | 74 | } |
rkk | 11:8ec915eb70f6 | 75 | |
rkk | 11:8ec915eb70f6 | 76 | float MainController::getAmplitude() |
rkk | 11:8ec915eb70f6 | 77 | { |
rkk | 11:8ec915eb70f6 | 78 | return amplitude; |
rkk | 11:8ec915eb70f6 | 79 | } |
rkk | 11:8ec915eb70f6 | 80 | |
rkk | 11:8ec915eb70f6 | 81 | |
rkk | 11:8ec915eb70f6 | 82 | float MainController::getFrequency() |
rkk | 11:8ec915eb70f6 | 83 | { |
rkk | 11:8ec915eb70f6 | 84 | return frq; |
rkk | 11:8ec915eb70f6 | 85 | } |
rkk | 11:8ec915eb70f6 | 86 | |
rkk | 11:8ec915eb70f6 | 87 | float MainController::getVolume() |
rkk | 11:8ec915eb70f6 | 88 | { |
rkk | 11:8ec915eb70f6 | 89 | return vol; |
rkk | 11:8ec915eb70f6 | 90 | } |
rkk | 12:7eeb29892625 | 91 | |
rkk | 12:7eeb29892625 | 92 | float MainController::getRudder() |
rkk | 12:7eeb29892625 | 93 | { |
rkk | 12:7eeb29892625 | 94 | return rud; |
rkk | 12:7eeb29892625 | 95 | } |
rkk | 12:7eeb29892625 | 96 | |
rkk | 12:7eeb29892625 | 97 | // |
rkk | 12:7eeb29892625 | 98 | //float MainController::sigm(float input) |
rkk | 12:7eeb29892625 | 99 | //{ |
rkk | 12:7eeb29892625 | 100 | // if (input>0) |
rkk | 12:7eeb29892625 | 101 | // return 1; |
rkk | 12:7eeb29892625 | 102 | // else if (input<0) |
rkk | 12:7eeb29892625 | 103 | // return -1; |
rkk | 12:7eeb29892625 | 104 | // else |
rkk | 12:7eeb29892625 | 105 | // return 0; |
rkk | 12:7eeb29892625 | 106 | //} |