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

Diff: motor_controller.cpp

Revision:
6:a4d6f3e4bf28
Parent:
5:090ef6275773
Child:
7:e005cfaff8d1
--- a/motor_controller.cpp	Tue Jan 28 23:59:21 2014 +0000
+++ b/motor_controller.cpp	Wed Jan 29 05:04:50 2014 +0000
@@ -47,8 +47,11 @@
     return;
 }
 
-void PololuMController::drive_sinusoidal(float cur_time, float a, float w, float phi)
+void PololuMController::drive_sinusoidal(float currentTime, float dutyCycle, float frequency)
 {
-    setpolarspeed(a*sin(w*cur_time+phi));
+    //convert frequency form 0.0 to 1.0
+    float f = (FREQ_MAX - FREQ_MIN) * f + FREQ_MIN; 
+    
+    setpolarspeed(dutyCycle*sin( 2.0* MATH_PI* f * currentTime));
     return;
 }