robocup メイン fumiya

Dependencies:   AQM0802A HMC6352 L6470_lib PID mbed

Fork of CatPot_Main_ver1 by CatPot 2015-2016

Committer:
ryuna
Date:
Sat Jan 10 13:40:02 2015 +0000
Revision:
7:7a0aee1477d9
Parent:
0:ae08e2e1d82d
??????????????????????????; wraparound.cpp??????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryuna 0:ae08e2e1d82d 1
ryuna 0:ae08e2e1d82d 2 #include <sstream>
ryuna 0:ae08e2e1d82d 3 #include "mbed.h"
ryuna 0:ae08e2e1d82d 4
ryuna 0:ae08e2e1d82d 5 string StringFIN;
ryuna 0:ae08e2e1d82d 6
ryuna 0:ae08e2e1d82d 7 using namespace std;
ryuna 0:ae08e2e1d82d 8
ryuna 0:ae08e2e1d82d 9
ryuna 0:ae08e2e1d82d 10 //extern Serial pc; // tx, rx
ryuna 0:ae08e2e1d82d 11
ryuna 0:ae08e2e1d82d 12 string IntToString(int number)
ryuna 0:ae08e2e1d82d 13 {
ryuna 0:ae08e2e1d82d 14 stringstream ss;
ryuna 0:ae08e2e1d82d 15 ss << number;
ryuna 0:ae08e2e1d82d 16 return ss.str();
ryuna 0:ae08e2e1d82d 17 }
ryuna 0:ae08e2e1d82d 18
ryuna 0:ae08e2e1d82d 19 void array(int power1,int power2,int power3,int power4)
ryuna 0:ae08e2e1d82d 20 {
ryuna 0:ae08e2e1d82d 21 int input[4] = {power1,power2,power3,power4};
ryuna 0:ae08e2e1d82d 22 int value = 0;
ryuna 0:ae08e2e1d82d 23 string StringA[4] = {"0","0","0","0"};
ryuna 0:ae08e2e1d82d 24
ryuna 0:ae08e2e1d82d 25
ryuna 0:ae08e2e1d82d 26 string StringX = "0";
ryuna 0:ae08e2e1d82d 27 string StringY = "0";
ryuna 0:ae08e2e1d82d 28 string StringZ = "0";
ryuna 0:ae08e2e1d82d 29 string String0 = "0";
ryuna 0:ae08e2e1d82d 30
ryuna 0:ae08e2e1d82d 31 StringFIN = "0";
ryuna 0:ae08e2e1d82d 32
ryuna 0:ae08e2e1d82d 33 for(uint8_t i = 0 ; i < 4; i++){
ryuna 0:ae08e2e1d82d 34
ryuna 0:ae08e2e1d82d 35 value = input[i];
ryuna 0:ae08e2e1d82d 36
ryuna 0:ae08e2e1d82d 37 StringX = IntToString(i+1);
ryuna 0:ae08e2e1d82d 38
ryuna 0:ae08e2e1d82d 39 if( (value < 0) && (value >= -100) ){
ryuna 0:ae08e2e1d82d 40 StringY = "R";
ryuna 0:ae08e2e1d82d 41 value = abs(value);
ryuna 0:ae08e2e1d82d 42 StringZ = IntToString(value);
ryuna 0:ae08e2e1d82d 43 }else if( (value >= 0) && (value <= 100) ){
ryuna 0:ae08e2e1d82d 44 StringY = "F";
ryuna 0:ae08e2e1d82d 45 StringZ = IntToString(value);
ryuna 0:ae08e2e1d82d 46 }else{
ryuna 0:ae08e2e1d82d 47 value = abs(value);
ryuna 0:ae08e2e1d82d 48 StringY = "F";
ryuna 0:ae08e2e1d82d 49 StringZ = "000";
ryuna 0:ae08e2e1d82d 50 }
ryuna 0:ae08e2e1d82d 51
ryuna 0:ae08e2e1d82d 52 if(value < 10){
ryuna 0:ae08e2e1d82d 53 String0 = "00";
ryuna 0:ae08e2e1d82d 54 StringZ = String0 + StringZ;
ryuna 0:ae08e2e1d82d 55 }else if(value < 100)
ryuna 0:ae08e2e1d82d 56 {
ryuna 0:ae08e2e1d82d 57 String0 = "0";
ryuna 0:ae08e2e1d82d 58 StringZ = String0 + StringZ;
ryuna 0:ae08e2e1d82d 59 }else{
ryuna 0:ae08e2e1d82d 60
ryuna 0:ae08e2e1d82d 61 }
ryuna 0:ae08e2e1d82d 62
ryuna 0:ae08e2e1d82d 63 StringA[i] = (StringX + StringY + StringZ);
ryuna 0:ae08e2e1d82d 64
ryuna 0:ae08e2e1d82d 65 if(i == 0)StringFIN = StringA[i];
ryuna 0:ae08e2e1d82d 66 else StringFIN += StringA[i];
ryuna 0:ae08e2e1d82d 67
ryuna 0:ae08e2e1d82d 68 }
ryuna 0:ae08e2e1d82d 69
ryuna 0:ae08e2e1d82d 70 StringFIN += "\r\n";
ryuna 0:ae08e2e1d82d 71 }