FOR BRAD!!!!

Dependencies:   mbed

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers LinearBlend.cpp Source File

LinearBlend.cpp

00001 #include "LinearBlend.h"
00002 #include "mbed.h"
00003 Serial bob(USBTX,USBRX);
00004 
00005 /***********************************************************
00006 Constructor
00007 ***********************************************************/
00008 LinearBlend::LinearBlend():start(0)
00009 {
00010 }
00011 
00012 /***********************************************************
00013 Initialize Blend Function
00014 ***********************************************************/
00015 //Function that sets the blend global variables to ready for blending calculations.
00016 void LinearBlend::init(float end, float s, int t_blend)
00017 {
00018     slope=(end-s)/t_blend;
00019     bob.printf("Start: %f, Slope: %f\r\n", start, slope);
00020     start=s;
00021 }
00022 
00023 /***********************************************************
00024 Calculate Blend Function
00025 ***********************************************************/
00026 //Function that calculates the blending trajectory, point by point.
00027   
00028 float* LinearBlend::blend(float ref[])
00029 {
00030      bob.printf("Start: %f, Slope: %f\r\n", start, slope);   
00031     //Pointer to the variable to store the trajectory point for the left side
00032     for(int i=0; i<=t_blend; i++) {
00033         ref[i]=slope*i+start;
00034         
00035     }
00036 
00037     return ref;
00038 }