Exemplo n.º 1
0
APU::APU(float sampleRate)
  : time(0), sampleRate(sampleRate), timeStep(1.0/sampleRate),
    frameCounterMode(0),
    pulses(std::vector<PulseWave>(2, PulseWave(sampleRate))),
    triangle(TriangleWave(sampleRate))
{
}
Exemplo n.º 2
0
/* --1-- Check that the wave functions in Ranger math are performing correctly.
 * Creates a sine wave, triangle wave, and a square wave, and then sends
 * them over the CAN bus to LabVIEW, on channels:
 * 	ID_CTRL_TEST_W0, *_W1, *_W2 */
void test_waveFunctions() {
	float period = 2.0;
	float min = -0.5;
	float max = 2.2;
	float time = getTime();

	mb_io_set_float(ID_CTRL_TEST_W0, SquareWave(time, period, min, max));
	mb_io_set_float(ID_CTRL_TEST_W1, TriangleWave(time, period, min, max));
	mb_io_set_float(ID_CTRL_TEST_W2, SineWave(time, period, min, max));
	mb_io_set_float(ID_CTRL_TEST_W3, SawToothWave(time, period, min, max));
}
Exemplo n.º 3
0
static int32_t ChannelAmplitude(BitBinChannel *channel)
{
	if(channel->currentvolume==0) return 0;
	if(channel->mastervolume==0) return 0;

	int32_t sample=0;
	switch(channel->waveform)
	{
		case 0: sample=SquareWave1_8(channel); break;
		case 1: sample=SquareWave1_4(channel); break;
		case 2: sample=SquareWave1_2(channel); break;
		case 3: sample=SquareWave3_4(channel); break;
		case 4: sample=TriangleWave(channel); break;
		case 5: sample=Noise(channel); break;
	}

	return sample*channel->currentvolume*channel->mastervolume;
}
Exemplo n.º 4
0
/* --3-- Have the outer ankles track a square wave and the inner ankles track
 * a triangle wave. The max and min values are set based on reasonable values
 * for flip-up and push-off target angles. The reference angles are sent out
 * on ID_CTRL_TEST_W0 and ID_CTRL_TEST_W1. */
void test_trackRel_ankle() {
	float kp = 7.0;
	float kd = 1.0;
	float max = 2.6; // Push-off
	float min = 0.2; // Flip-up
	float period = 2.0;
	float q0, q1;  // Target angles
	float time = getTime();

	q0 = SquareWave(time, period, min, max);
	q1 = TriangleWave(time, period, min, max);
	mb_io_set_float(ID_CTRL_TEST_W0, q0);
	mb_io_set_float(ID_CTRL_TEST_W1, q1);

	trackRel_ankOut(q0, kp, kd);
	trackRel_ankInn(q1, kp, kd);
	disable_hip();
}
Exemplo n.º 5
0
int CVICALLBACK Aquire_Display (int panel, int control, int event,
		void *callbackData, int eventData1, int eventData2)
{
	double phase = 0.0;
	double datapoints[256];
	
	int i = 0;
	int index = 0;
	
	switch (event)
	{
		case EVENT_COMMIT:
			GetCtrlIndex (MYPANEL, MYPANEL_MYRING, &index);
			switch (index)
			{
			case 0:
			SineWave (256, 1.0, 7.8125e-3, &phase, datapoints);
			break;
			
			case 1:
				SquareWave (256, 1.0, 7.8125e-3, &phase, 50.0, datapoints);
			break;
				
			case 2:
				TriangleWave (256, 1.0, 7.8125e-3, &phase, datapoints);
			break;
					
			case 3:
			for (i = 0; i < 256; i++)
				datapoints[i] = rand() /32767.0;
			break;
			}
			
			DeleteGraphPlot (MYPANEL, MYPANEL_MYGRAPH, -1, VAL_IMMEDIATE_DRAW);
			
			PlotY (MYPANEL, MYPANEL_MYGRAPH, datapoints, 256, VAL_DOUBLE,
			VAL_THIN_LINE, VAL_EMPTY_SQUARE, VAL_SOLID, 1, VAL_RED);
			
			break;
	}
	return 0;
}