Revision 5:534a54a44b22, committed 2015-08-10

Comitter:

s1210160

Date:

Mon Aug 10 10:01:15 2015 +0000

Parent:

4:8713fff9e20d

Commit message:

2015/08/10

Changed in this revision

--- a/cansat.cpp	Thu Aug 06 17:06:08 2015 +0000
+++ b/cansat.cpp	Mon Aug 10 10:01:15 2015 +0000
@@ -50,9 +50,18 @@
 double CanSat::get_robotKalman_y(){
     return robotK_y;
 }
-double CanSat::get_compass_z(){
+int16_t CanSat::get_compass_x(){
+    return compass_x;
+}
+int16_t CanSat::get_compass_y(){
+    return compass_y;
+}
+int16_t CanSat::get_compass_z(){
     return compass_z;
 }
+double CanSat::get_compass_angle(){
+    return compass_angle;
+}
 double CanSat::get_target_distance(){
     return target_distance;
 }
@@ -101,10 +110,11 @@
     CanSat::gyro_y = y;
     CanSat::gyro_z = z;    
 }
-void CanSat::set_compass(double x, double y, double z){
+void CanSat::set_compass(int16_t x, int16_t y, int16_t z, double angle){
     CanSat::compass_x = x;
     CanSat::compass_y = y;
     CanSat::compass_z = z;
+    CanSat::compass_angle = angle;
 }
 void CanSat::set_pressure(double p){
     CanSat::pressure = p;

--- a/cansat.h	Thu Aug 06 17:06:08 2015 +0000
+++ b/cansat.h	Mon Aug 10 10:01:15 2015 +0000
@@ -36,7 +36,10 @@
         double get_robot_y();
         double get_robotKalman_x();
         double get_robotKalman_y();
-        double get_compass_z();
+        int16_t get_compass_x();
+        int16_t get_compass_y();
+        int16_t get_compass_z();
+        double get_compass_angle();
         double get_target_distance();
         double get_target_x();
         double get_target_y();
@@ -55,7 +58,7 @@
         void set_robotKalman_y(double);
     
         void set_gyro(double x, double y, double z);
-        void set_compass(double x, double y, double z);
+        void set_compass(int16_t x, int16_t y, int16_t z, double angle);
         void set_pressure(double p);
         void set_temperature(double t);
         void set_humidity(double h);
@@ -75,12 +78,13 @@
         double robot_x,robot_y;
         double robotK_x,robotK_y;//kalman filter
         double target_x,target_y;
-        //ロボットとターゲットの方角を表す。北を１として北東：２、東：３、南東４のように１～８の値を持つ
+        //ロボットとターゲットの方角を表す。北を0として北東：1、東：1、南東3のように0～7の値を持つ
         int robot_angle,target_angle;
         //ジャイロ
         int gyro_x,gyro_y,gyro_z;
         //コンパス
         int compass_x,compass_y,compass_z;
+        double compass_angle;
         //加速度
         double acceleration_x,acceleration_y,acceleration_z;
         //気圧計の気圧、気温、湿度