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:
- 2014-02-12
- Revision:
- 15:dc5753a5b83e
- Parent:
- 14:a5389e26a63b
- Child:
- 16:79cfe6201318
File content as of revision 15:dc5753a5b83e:
#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 = 0.4; // hardcoded frqMax = 2.5; //hardcoded goofftime = 0.0; switched = false; } void MainController::control() { curTime = timer1.read(); if(curTime > 1/frq) { //read new inputs vol = this->calculateVolume(); frq = this->calculateFrequency(); 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)); } // if (curTime > 1/(2*frq) && (switched == false)) // { // switched = true; // amplitude = -1.0; // } // // if(!switched) // { // if(curTime > goofftime ) // amplitude = 0.0; // } // else // { // if(curTime > (1/(2*frq)+goofftime)) // amplitude = 0.0; // } dutyCycle = saturate(amplitude * sin( 2.0 * MATH_PI * frq * curTime )); 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; } //signum function float MainController::signum(float input) { if (input>0.0) return 1.0; else if (input<0.0) 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; }