![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
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
Diff: motor_controller.h
- Revision:
- 6:a4d6f3e4bf28
- Parent:
- 0:ff9bc5f69c57
- Child:
- 7:e005cfaff8d1
diff -r 090ef6275773 -r a4d6f3e4bf28 motor_controller.h --- a/motor_controller.h Tue Jan 28 23:59:21 2014 +0000 +++ b/motor_controller.h Wed Jan 29 05:04:50 2014 +0000 @@ -1,5 +1,8 @@ #pragma once #include "mbed.h" +#define MATH_PI 3.14159265359 +#define FREQ_MIN 0.5 //Hz +#define FREQ_MAX 8 //Hz class PololuMController { @@ -15,5 +18,5 @@ void setspeed(float speed); //0 to 1 void setpolarspeed(float speed); //-1 to 1 void reverse(); //only works on non-polar speed - void drive_sinusoidal(float cur_time, float a, float w, float phi); //a*sin(w*cur_time+phi) + void drive_sinusoidal(float currentTime, float dutyCycle, float frequency); }; \ No newline at end of file