jetfishteam / Mbed 2 deprecated robotic_fish_ver_4_9_pixy

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Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 Servo fishgait mbed-rtos mbed pixy_cam

Fork of robotic_fish_ver_4_8 by jetfishteam

Diff: MainController.h

Revision:
12:7eeb29892625
Parent:
11:8ec915eb70f6
Child:
13:5ed8fd870723
diff -r 8ec915eb70f6 -r 7eeb29892625 MainController.h
--- a/MainController.h	Fri Jan 31 19:36:28 2014 +0000
+++ b/MainController.h	Sat Feb 01 00:03:40 2014 +0000
@@ -4,6 +4,9 @@
 #include "mbed.h"
 #include "PwmIn.h"
 #include "motor_controller.h"
+#include "guardian.h"
+//#include "IMU.h"
+
 
 #define MATH_PI 3.14159265359
  
@@ -29,6 +32,7 @@
     float getFrequency();
     float getVolume();
     float getAmplitude();
+    float getRudder();
     
     /** Stop the main controller
      *
@@ -41,11 +45,16 @@
     void control();
     float calculateFrequency();
     float calculateVolume();
+    float calculateRudder();
     
 private:
     PwmIn ch3;
+    PwmIn ch4;
     PwmIn ch6;
     PololuMController mcon;
+    Guardian ap;
+    
+    
     Timer timer1;
     Ticker ticker1;
     float vol;
@@ -55,6 +64,8 @@
     float frqMin;
     float frqMax;
     float amplitude;
+    float rud;
+    float frqmxsqrt;
 };
  
 #endif