Juan Salazar / robotic_fish_6

test2

Dependencies:   MODDMA mbed sofi7

Files at this revision

API Documentation at this revision

Revision 2:7ca59d64e460, committed 2021-12-05

Comitter:
arizonat
Date:
Sun Dec 05 14:53:30 2021 +0000
Parent:
1:b0d4dbf4e611
Child:
3:16cf1cb2ebfd
Commit message:
bumped down the amplitude (raiser) increased pwm frequency and bumped down max thrust slightly

Changed in this revision

robotic_fish_6/FishController.cpp Show annotated file Show diff for this revision Revisions of this file
robotic_fish_6/FishController.h Show annotated file Show diff for this revision Revisions of this file 
--- a/robotic_fish_6/FishController.cpp	Fri Dec 03 23:09:57 2021 +0000
+++ b/robotic_fish_6/FishController.cpp	Sun Dec 05 14:53:30 2021 +0000
@@ -38,7 +38,7 @@
 	#ifdef FISH4
     curTime(0),
     fullCycle(true),
-    raiser(3.5),
+    raiser(1.7), //3.5 original
     // Outputs for motor and servos
     motorPWM(motorPWMPin),
     motorOutA(motorOutAPin),
@@ -103,6 +103,7 @@
     thrustCommand = 0;
     dutyCycle = 0;
     brushlessOff = false;
+    motorPWM.period(0.0005); //default is 0.02sec, or 50Hz. 0.0005 is 2kHz, max is 0.00005 or 20kHz for the VNH5019
 #endif
 
 //    buttonBoard.registerCallback(&FishController::buttonCallback);

--- a/robotic_fish_6/FishController.h	Fri Dec 03 23:09:57 2021 +0000
+++ b/robotic_fish_6/FishController.h	Sun Dec 05 14:53:30 2021 +0000
@@ -60,7 +60,7 @@
 
 #define fishMinThrust    ((float)(0.0))
 #ifdef FISH4
-#define fishMaxThrust    ((float)(0.75))
+#define fishMaxThrust    ((float)(0.7))
 #endif
 #ifdef FISH6
 #define fishMaxThrust    ((float)(1.0))