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
guardian.cpp
- Committer:
- rkk
- Date:
- 2014-01-31
- Revision:
- 9:8dd7a76756e2
- Parent:
- 7:e005cfaff8d1
- Child:
- 12:7eeb29892625
File content as of revision 9:8dd7a76756e2:
#include "guardian.h" Guardian::Guardian(PinName ailpin, PinName modpin, PinName elvpin, PinName rudpin, PinName auxpin, PinName gainpin) { ail=new Servo(ailpin); mod=new Servo(modpin); elv=new Servo(elvpin); /*rud=new Servo(rudpin); aux=new Servo(auxpin); */ gain=new Servo(gainpin); mod->write(0.5); //set autopilot to off ail->write(0.5); elv->write(0.5); /*rud->write(0.5); aux->write(0.00); */ gain->write(1.00); } Guardian::~Guardian() { delete ail, mod, elv, rud, aux, gain; } void Guardian::set3D() //set autopilot to 3D { mod->write(1.00); return; } void Guardian::set2D() //set autopilot 2D { mod->write(0.00); return; } void Guardian::setoff() { mod->write(0.5); return; } void Guardian::calibrate() //must be done within 15 sec of power on { set2D(); wait(500); set3D(); wait(500); set2D(); wait(2000); //now look for the twitch return; } void Guardian::setail(float val) { ail->write(val); return; } void Guardian::setmod(float val) { mod->write(val); return; } void Guardian::setelv(float val) { elv->write(val); return; } void Guardian::setrud(float val) { rud->write(val); return; } void Guardian::setaux(float val) { aux->write(val); return; }