File content as of revision 3:91e508c05dca:

#include "hormone.h"
#include "mbed.h"

#define HORMONE 0 // do you want to use hormone or not

/*------------------------< Function comment >------------------------*/ 
/* NAME         : constructor                                         */ 
/* PARAMETERS   : -                                                   */ 
/* RETURN VALUE : -                                                   */ 
/* DESCRIPTION  : -                                                   */ 
/*--------------------------------------------------------------------*/ 
hormone::hormone()
{
    // default config //
    upDegree = 45.00; downDegree = 90.00; 
    cgUp = 45.00; cgDown = 90.00;
    cgUpPrev = 0.6; cgDownPrev = 0.7;

/*
    // flat config //
    upDegree = 45.00; downDegree = 95.00; 
    cgUp = 45.00; cgDown = 95;
    cgUpPrev = 0.6;       
    cgDownPrev = 0.5;
*/
/*   
    // small config //
    upDegree = 60.00; downDegree = 100.00; 
    cgUp = 60.00; cgDown = 100;
    cgUpPrev = 0.8;       
    cgDownPrev = 0.3; 
*/  
/*
    // big config //
    upDegree = 75.00; downDegree = 90.00; 
    cgUp = 75.00; cgDown = 90;
    cgUpPrev = 1.0;       
    cgDownPrev = 0.7; 
*/
    upPreProc = 0.0; downPreProc = 0.0;
}

/*------------------------< Function comment >------------------------*/ 
/* NAME         : hormone concentration                               */ 
/* PARAMETERS   : -                                                   */ 
/* RETURN VALUE : -                                                   */ 
/* DESCRIPTION  : -                                                   */ 
/*--------------------------------------------------------------------*/ 
float hormone::upHG(const float G2,const float G4 )
{    
    #if(HORMONE)
        upPreProc = (G2 + G4) / 2.00f;
        
        //      hormone gland       //
        cgUp = tanh( (0.7f * upPreProc) + (0.3f * cgUpPrev) );
        cgUpPrev = cgUp;
        
        return 75 * cgUp;
    #else
        return 45.00f;
    #endif
}


/*------------------------< Function comment >------------------------*/ 
/* NAME         : hormone concentration for servo down                */ 
/* PARAMETERS   : -                                                   */ 
/* RETURN VALUE : -                                                   */ 
/* DESCRIPTION  : -                                                   */ 
/*--------------------------------------------------------------------*/ 
float hormone::downHG(const float G2,const float G3 )
{    
    #if(HORMONE)
        downPreProc = (G2 + G3) / 2.00f;
        
        //      hormone gland       //
        cgDown = tanh( (0.3f * downPreProc) + (0.5f * cgDownPrev) );
        cgDownPrev = cgDown;
     
        return (-25.00f * cgDown) + 107.50f;
    #else
        return 95.00f;
    #endif
}

/*------------------------< Function comment >------------------------*/ 
/* NAME         : hormone receiver for servo up                       */ 
/* PARAMETERS   : -                                                   */ 
/* RETURN VALUE : -                                                   */ 
/* DESCRIPTION  : -                                                   */ 
/*--------------------------------------------------------------------*/
float hormone::hormoneRecUp(const float upDeg)
{
    upDegree = upDeg;

    if(upDegree < 45.00f )
    {
        upDegree = 45.00f;
    }
    else if(upDegree > 75.00f)
    {
        upDegree = 75.00f;
    }
    
    return upDegree;
}

/*------------------------< Function comment >------------------------*/ 
/* NAME         : hormone receiver for servo down                     */ 
/* PARAMETERS   : -                                                   */ 
/* RETURN VALUE : -                                                   */ 
/* DESCRIPTION  : -                                                   */ 
/*--------------------------------------------------------------------*/
float hormone::hormoneRecDown(const float downDeg)
{
    //downDegree = 90.00f*(1.00f-(0.06f*cgDown)); 
    downDegree = downDeg;

    if(downDegree < 90.00f)
    {
        downDegree = 90.00f;
    }
    else if(downDegree > 100.00f)
    {
        downDegree = 100.00f;
    }
    
    return downDegree;
}
/*--------------------------------------------------------------------*/