CanSat2015aizu / CanSat_aoki

2015.07.23

Dependencies:   VNH5019

Dependents:   Cansat_program2

Fork of CanSat by CanSat2015aizu

cansat.cpp@5:534a54a44b22, 2015-08-10 (annotated)

Committer:
s1210160
Date:
Mon Aug 10 10:01:15 2015 +0000
Revision:
5:534a54a44b22
Parent:
4:8713fff9e20d 
2015/08/10

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kityann 2:0f76226be922 1 #include "cansat.h"
kityann 2:0f76226be922 2
kityann 2:0f76226be922 3
kityann 2:0f76226be922 4 //////////////////////////////
kityann 2:0f76226be922 5 // Init //
kityann 2:0f76226be922 6 //////////////////////////////
kityann 2:0f76226be922 7 CanSat::CanSat(VNH5019 agzSheild):_agzSheild(agzSheild){
kityann 2:0f76226be922 8
kityann 2:0f76226be922 9 }
kityann 2:0f76226be922 10
kityann 2:0f76226be922 11
kityann 2:0f76226be922 12
kityann 2:0f76226be922 13 void CanSat::control_Motor(int flag,int speed){
kityann 2:0f76226be922 14
kityann 2:0f76226be922 15 if(flag == 0){
kityann 2:0f76226be922 16 _agzSheild.changeSpeed(1, speed, 1, speed); //straight
kityann 2:0f76226be922 17 motor_command = 'f';
kityann 2:0f76226be922 18 }
kityann 2:0f76226be922 19 if(flag == 1){
kityann 2:0f76226be922 20 _agzSheild.changeSpeed(0, speed, 0, speed);
kityann 2:0f76226be922 21 motor_command = 's';
kityann 2:0f76226be922 22 }
kityann 2:0f76226be922 23 if(flag == 2){
kityann 2:0f76226be922 24 _agzSheild.changeSpeed(1, speed, 2, speed); //Turn Right
kityann 2:0f76226be922 25 motor_command = 'r';
kityann 2:0f76226be922 26 }
kityann 2:0f76226be922 27 if(flag == 3){
kityann 2:0f76226be922 28 _agzSheild.changeSpeed(2, speed, 1, speed); //Turn Right
kityann 2:0f76226be922 29 motor_command = 'l';
kityann 2:0f76226be922 30 }
kityann 2:0f76226be922 31 if(flag == 4){
kityann 2:0f76226be922 32 _agzSheild.changeSpeed(2, speed, 2, speed);
kityann 2:0f76226be922 33 motor_command = 'b';
kityann 2:0f76226be922 34 }
kityann 2:0f76226be922 35 }
kityann 2:0f76226be922 36
kityann 2:0f76226be922 37
kityann 2:0f76226be922 38 //////////////////////////////
kityann 2:0f76226be922 39 // Get //
kityann 2:0f76226be922 40 //////////////////////////////
kityann 2:0f76226be922 41 double CanSat::get_robot_x(){
kityann 2:0f76226be922 42 return robot_x;
kityann 2:0f76226be922 43 }
kityann 2:0f76226be922 44 double CanSat::get_robot_y(){
kityann 2:0f76226be922 45 return robot_y;
kityann 2:0f76226be922 46 }
kityann 2:0f76226be922 47 double CanSat::get_robotKalman_x(){
kityann 2:0f76226be922 48 return robotK_x;
kityann 2:0f76226be922 49 }
kityann 2:0f76226be922 50 double CanSat::get_robotKalman_y(){
kityann 2:0f76226be922 51 return robotK_y;
kityann 2:0f76226be922 52 }
s1210160 5:534a54a44b22 53 int16_t CanSat::get_compass_x(){
s1210160 5:534a54a44b22 54 return compass_x;
s1210160 5:534a54a44b22 55 }
s1210160 5:534a54a44b22 56 int16_t CanSat::get_compass_y(){
s1210160 5:534a54a44b22 57 return compass_y;
s1210160 5:534a54a44b22 58 }
s1210160 5:534a54a44b22 59 int16_t CanSat::get_compass_z(){
s1200058 4:8713fff9e20d 60 return compass_z;
s1200058 4:8713fff9e20d 61 }
s1210160 5:534a54a44b22 62 double CanSat::get_compass_angle(){
s1210160 5:534a54a44b22 63 return compass_angle;
s1210160 5:534a54a44b22 64 }
s1200058 4:8713fff9e20d 65 double CanSat::get_target_distance(){
s1200058 4:8713fff9e20d 66 return target_distance;
s1200058 4:8713fff9e20d 67 }
s1200058 4:8713fff9e20d 68 double CanSat::get_target_x(){
s1200058 4:8713fff9e20d 69 return target_x;
s1200058 4:8713fff9e20d 70 }
s1200058 4:8713fff9e20d 71 double CanSat::get_target_y(){
s1200058 4:8713fff9e20d 72 return target_y;
s1200058 4:8713fff9e20d 73 }
s1200058 4:8713fff9e20d 74 int CanSat::get_speed(){
s1200058 4:8713fff9e20d 75 return speed;
s1200058 4:8713fff9e20d 76 }
s1200058 4:8713fff9e20d 77 int CanSat::get_robot_angle(){
s1200058 4:8713fff9e20d 78 return robot_angle;
s1200058 4:8713fff9e20d 79 }
s1200058 4:8713fff9e20d 80 int CanSat::get_target_angle(){
s1200058 4:8713fff9e20d 81 return target_angle;
s1200058 4:8713fff9e20d 82 }
s1200058 4:8713fff9e20d 83 double CanSat::get_pressure(){
s1200058 4:8713fff9e20d 84 return pressure;
s1200058 4:8713fff9e20d 85 }
s1200058 4:8713fff9e20d 86 double CanSat::get_temperature(){
s1200058 4:8713fff9e20d 87 return temperature;
s1200058 4:8713fff9e20d 88 }
s1200058 4:8713fff9e20d 89 double CanSat::get_humidity(){
s1200058 4:8713fff9e20d 90 return humidity;
s1200058 4:8713fff9e20d 91 }
kityann 2:0f76226be922 92 //////////////////////////////
kityann 2:0f76226be922 93 // Set //
kityann 2:0f76226be922 94 //////////////////////////////
kityann 2:0f76226be922 95 void CanSat::set_robot_x(double x){
kityann 2:0f76226be922 96 robot_x = x;
kityann 2:0f76226be922 97 }
kityann 2:0f76226be922 98 void CanSat::set_robot_y(double y){
kityann 2:0f76226be922 99 robot_y = y;
kityann 2:0f76226be922 100 }
kityann 2:0f76226be922 101
kityann 2:0f76226be922 102 void CanSat::set_robotKalman_x(double cur_x){
kityann 2:0f76226be922 103 robotK_x = cur_x;
kityann 2:0f76226be922 104 }
kityann 2:0f76226be922 105 void CanSat::set_robotKalman_y(double cur_y){
kityann 2:0f76226be922 106 robotK_y = cur_y;
kityann 2:0f76226be922 107 }
kityann 2:0f76226be922 108 void CanSat::set_gyro(double x, double y, double z){
kityann 2:0f76226be922 109 CanSat::gyro_x = x;
kityann 2:0f76226be922 110 CanSat::gyro_y = y;
kityann 2:0f76226be922 111 CanSat::gyro_z = z;
kityann 2:0f76226be922 112 }
s1210160 5:534a54a44b22 113 void CanSat::set_compass(int16_t x, int16_t y, int16_t z, double angle){
kityann 2:0f76226be922 114 CanSat::compass_x = x;
kityann 2:0f76226be922 115 CanSat::compass_y = y;
kityann 2:0f76226be922 116 CanSat::compass_z = z;
s1210160 5:534a54a44b22 117 CanSat::compass_angle = angle;
kityann 2:0f76226be922 118 }
kityann 2:0f76226be922 119 void CanSat::set_pressure(double p){
kityann 2:0f76226be922 120 CanSat::pressure = p;
kityann 2:0f76226be922 121 }
kityann 2:0f76226be922 122 void CanSat::set_temperature(double t){
kityann 2:0f76226be922 123 CanSat::temperature = t;
kityann 2:0f76226be922 124 }
kityann 2:0f76226be922 125 void CanSat::set_humidity(double h){
kityann 2:0f76226be922 126 CanSat::humidity = h;
kityann 2:0f76226be922 127 }
kityann 2:0f76226be922 128 void CanSat::set_acceleration(double x, double y, double z){
kityann 2:0f76226be922 129 CanSat::acceleration_x = x;
kityann 2:0f76226be922 130 CanSat::acceleration_y = y;
kityann 2:0f76226be922 131 CanSat::acceleration_z = z;
s1200058 4:8713fff9e20d 132 }
s1200058 4:8713fff9e20d 133 void CanSat::set_target_distance(double distance){
s1200058 4:8713fff9e20d 134 CanSat::target_distance = distance;
s1200058 4:8713fff9e20d 135 }
s1200058 4:8713fff9e20d 136 void CanSat::set_speed(int new_speed){
s1200058 4:8713fff9e20d 137 CanSat::speed = new_speed;
s1200058 4:8713fff9e20d 138 }
s1200058 4:8713fff9e20d 139 void CanSat::set_robot_angle(int new_robot_angle){
s1200058 4:8713fff9e20d 140 CanSat::robot_angle = new_robot_angle;
s1200058 4:8713fff9e20d 141 }
s1200058 4:8713fff9e20d 142 void CanSat::set_target_angle(int new_target_angle){
s1200058 4:8713fff9e20d 143 CanSat::target_angle = new_target_angle;
kityann 2:0f76226be922 144 }