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

motor_controller.h@9:8dd7a76756e2, 2014-01-31 (annotated)

Committer:
rkk
Date:
Fri Jan 31 04:53:10 2014 +0000
Revision:
9:8dd7a76756e2
Parent:
8:0574a5db1fc4
Child:
10:d9f1037f0cb0
added more code to the sinusoidal driving

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 0:ff9bc5f69c57 1 #pragma once
sandwich 0:ff9bc5f69c57 2 #include "mbed.h"
rkk 6:a4d6f3e4bf28 3 #define MATH_PI 3.14159265359
rkk 6:a4d6f3e4bf28 4 #define FREQ_MIN 0.5 //Hz
sandwich 7:e005cfaff8d1 5 #define FREQ_MAX 3 //Hz
sandwich 7:e005cfaff8d1 6
sandwich 7:e005cfaff8d1 7 float sigm(float input);
sandwich 0:ff9bc5f69c57 8
sandwich 0:ff9bc5f69c57 9 class PololuMController
sandwich 0:ff9bc5f69c57 10 {
sandwich 0:ff9bc5f69c57 11 private:
sandwich 0:ff9bc5f69c57 12 PwmOut* pwm;
sandwich 0:ff9bc5f69c57 13 DigitalOut* outA;
sandwich 0:ff9bc5f69c57 14 DigitalOut* outB;
sandwich 0:ff9bc5f69c57 15 float timestamp;
rkk 8:0574a5db1fc4 16
rkk 8:0574a5db1fc4 17 //for driving
rkk 8:0574a5db1fc4 18 float phi1, ome1,amp1;
rkk 8:0574a5db1fc4 19
rkk 8:0574a5db1fc4 20
sandwich 0:ff9bc5f69c57 21 public:
sandwich 0:ff9bc5f69c57 22 PololuMController();
sandwich 0:ff9bc5f69c57 23 PololuMController(PinName pwmport, PinName A, PinName B);
sandwich 0:ff9bc5f69c57 24 ~PololuMController();
sandwich 0:ff9bc5f69c57 25 void setspeed(float speed); //0 to 1
sandwich 0:ff9bc5f69c57 26 void setpolarspeed(float speed); //-1 to 1
sandwich 0:ff9bc5f69c57 27 void reverse(); //only works on non-polar speed
rkk 8:0574a5db1fc4 28 void drive_sinusoidal(float currentTime, float amplitude, float frequency);
sandwich 7:e005cfaff8d1 29 void drive_rectangular(float currentTime, float amplitude, float frequency);
sandwich 0:ff9bc5f69c57 30 };