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
- Committer:
- rkk
- Date:
- 2014-02-01
- Revision:
- 12:7eeb29892625
- Parent:
- 11:8ec915eb70f6
- Child:
- 13:5ed8fd870723
File content as of revision 12:7eeb29892625:
#include "MainController.h" MainController::MainController() :ch3(p16,0.054,0.092), // frequency ch4(p17,0.055,0.092), //rudder ch6(p15,0.055,0.092), //volume mcon(p22, p6, p5), ap(p25, p26) { wait_ms(50); vol = 0.0; frq = 10.0; rud = 0.5; frqMin = 0.5; // hardcoded frqMax = 3.0; //hardcoded frqmxsqrt = sqrt(frqMax); } void MainController::control() { curTime = timer1.read(); if(curTime > 1/frq) { //read new inputs vol = this->calculateVolume(); frq = this->calculateFrequency(); timer1.reset(); curTime = 0.0; } rud = this->calculateRudder(); //not used right now amplitude = vol * sqrt(frq)/frqmxsqrt; dutyCycle = amplitude * sin( 2.0 * MATH_PI * frq * curTime ); //sigm for alternative driving mode mcon.setpolarspeed(dutyCycle); } float MainController::calculateFrequency() { return ((frqMax - frqMin) * ch3.dutycyclescaledup() + frqMin); } float MainController::calculateVolume() { return (ch6.dutycyclescaledup()); } float MainController::calculateRudder() { return (ch4.dutycyclescaledup()); } void MainController::start() { timer1.start(); ticker1.attach(this, &MainController::control,0.001); //Autopilot guardian //ap.calibrate(); //ap.set2D(); ap.setoff(); } void MainController::stop() { timer1.stop(); ticker1.detach(); mcon.setpolarspeed(0.0); } float MainController::getDutyCycle() { return dutyCycle; } float MainController::getAmplitude() { return amplitude; } float MainController::getFrequency() { return frq; } float MainController::getVolume() { return vol; } float MainController::getRudder() { return rud; } // //float MainController::sigm(float input) //{ // if (input>0) // return 1; // else if (input<0) // return -1; // else // return 0; //}