Diff: MainController.cpp

Revision:

15:dc5753a5b83e

Parent:

14:a5389e26a63b

Child:

16:79cfe6201318

--- a/MainController.cpp	Tue Feb 04 14:23:56 2014 +0000
+++ b/MainController.cpp	Wed Feb 12 23:57:01 2014 +0000
@@ -11,8 +11,8 @@
     vol = 0.0;
     frq = 10.0;
     rud = 0.5;
-    frqMin = 0.5; // hardcoded
-    frqMax = 3.0; //hardcoded
+    frqMin = 0.4; // hardcoded
+    frqMax = 2.5; //hardcoded
     goofftime = 0.0;
     switched = false;
 }
@@ -20,6 +20,7 @@
 void MainController::control()
 {
     curTime = timer1.read();
+    
     if(curTime > 1/frq) {
         //read new inputs
         vol = this->calculateVolume();
@@ -27,14 +28,16 @@
         rud = this->calculateRudder(); //not used right now
         timer1.reset();
         curTime = 0.0;
+        
+        // rudder value used to define the trapezoid shape
+        amplitude = vol * ( 2* rud + 1.0);
+        //amplitude = vol * 3.0;
+        
         switched = false;
         goofftime = (vol/(2*frq));
-        amplitude = vol;
-        
+            
     }
-    
-    //vol * sqrt(frq)/frqmxsqrt;
-    
+       
 //    if (curTime > 1/(2*frq) && (switched == false))
 //    {
 //        switched = true;
@@ -52,7 +55,7 @@
 //        amplitude = 0.0;
 //    }
 
-    dutyCycle = amplitude * signum(sin( 2.0 * MATH_PI * frq * curTime ));
+    dutyCycle = saturate(amplitude * sin( 2.0 * MATH_PI * frq * curTime ));
 
     mcon.setpolarspeed(dutyCycle);
 }
@@ -117,7 +120,7 @@
     return rud;
 }
 
-//
+//signum function
 float MainController::signum(float input)
 {
     if (input>0.0)
@@ -126,4 +129,15 @@
         return (-1.0);
     else
         return 0.0;
+}
+
+//saturate function
+float MainController::saturate(float input)
+{
+    if (input > 1.0)
+        return (1.0);
+    else if (input < -1.0)
+        return (-1.0);
+    else
+        return input;
 }
\ No newline at end of file