guardian.cpp

00001 #include "guardian.h"
00002 
00003 Guardian::Guardian(PinName modpin, PinName gainpin)
00004 :mod(modpin),
00005 gain(gainpin)
00006 {
00007 
00008     mod.write(0.5); //set autopilot to off
00009     gain.write(1.00);
00010 }
00011 
00012 void Guardian::set3D() //set autopilot to 3D
00013 {
00014     mod.write(1.00);
00015     return;
00016 }
00017 
00018 void Guardian::set2D() //set autopilot 2D
00019 {
00020     mod.write(0.00);
00021     return;
00022 }
00023 
00024 void Guardian::setoff()
00025 {
00026     mod.write(0.5);
00027     return;
00028 }
00029 
00030 void Guardian::calibrate() //must be done within 15 sec of power on
00031 {
00032     set2D();
00033     wait(500);
00034     set3D();
00035     wait(500);
00036     set2D();
00037     wait(2000);
00038     //now look for the twitch
00039     return;
00040 }
00041 
00042 void Guardian::setmod(float val)
00043 {
00044     mod.write(val);
00045     return;
00046 }
00047 
00048 void Guardian::setgain(float val)
00049 {
00050     gain.write(val);
00051     return;
00052 }