jetfishteam / Mbed 2 deprecated robotic_fish_ver_4_9_pixy

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 jetfishteam

Files at this revision

API Documentation at this revision

Revision 14:a5389e26a63b, committed 2014-02-04

Comitter:
rkk
Date:
Tue Feb 04 14:23:56 2014 +0000
Parent:
13:5ed8fd870723
Child:
15:dc5753a5b83e
Commit message:
bang bang controller

Changed in this revision

MainController.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/MainController.cpp	Mon Feb 03 21:04:35 2014 +0000
+++ b/MainController.cpp	Tue Feb 04 14:23:56 2014 +0000
@@ -28,29 +28,29 @@
         timer1.reset();
         curTime = 0.0;
         switched = false;
-        goofftime = (1/(2*frq)*vol);
-        amplitude = 1.0;
+        goofftime = (vol/(2*frq));
+        amplitude = vol;
         
     }
     
     //vol * sqrt(frq)/frqmxsqrt;
     
-    if (curTime > 1/(2*frq))
-    {
-        switched = true;
-        amplitude = -1.0;
-     }
-        
-    if(!switched)
-    {
-        if(curTime > goofftime )
-        amplitude = 0.0;
-    }
-    else
-    {
-        if(curTime > (1/(2*frq)+goofftime))
-        amplitude = 0.0;
-    }
+//    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 = amplitude * signum(sin( 2.0 * MATH_PI * frq * curTime ));
 
@@ -121,9 +121,9 @@
 float MainController::signum(float input)
 {
     if (input>0.0)
-        return 1;
+        return 1.0;
     else if (input<0.0)
-        return -1;
+        return (-1.0);
     else
-        return 0;
+        return 0.0;
 }
\ No newline at end of file