The movement Library for Lars https://valencia.lbsfilm.at/tag/robot/
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#include "Octosnake.h"
#include <Arduino.h>
Oscillator::Oscillator(){
_period = 2000;
_amplitude = 50;
_phase = 0;
_offset = 0;
_stop = true;
_ref_time = millis();
_delta_time = 0;
}
float Oscillator::refresh(){
if (!_stop){
_delta_time = (millis()-_ref_time) % _period;
_output = (float)_amplitude*sin(time_to_radians(_delta_time)
+ degrees_to_radians(_phase))
+ _offset;
}
return _output;
}
void Oscillator::reset(){
_ref_time = millis();
}
void Oscillator::start(){
reset();
_stop = false;
}
void Oscillator::start(unsigned long ref_time){
_ref_time = ref_time;
_stop = false;
}
void Oscillator::stop(){
_stop = true;
}
void Oscillator::setPeriod(int period){
_period = period;
}
void Oscillator::setAmplitude(int amplitude){
_amplitude = amplitude;
}
void Oscillator::setPhase(int phase){
_phase = phase;
}
void Oscillator::setOffset(int offset){
_offset = offset;
}
void Oscillator::setTime(unsigned long ref){
_ref_time = ref;
}
float Oscillator::getOutput(){
return _output;
}
unsigned long Oscillator::getTime(){
return _ref_time;
}
float Oscillator::getPhaseProgress(){
return ((float)_delta_time/_period) * 360;
}
float Oscillator::time_to_radians(double time){
return time*2*PI/_period;
}
float Oscillator::degrees_to_radians(float degrees){
return degrees*2*PI/360;
}
float Oscillator::degrees_to_time(float degrees){
return degrees*_period/360;
}