2015/08/14
Dependencies: VNH5019
Fork of cansat by
cansat.cpp@2:0f76226be922, 2015-07-23 (annotated)
- Committer:
- kityann
- Date:
- Thu Jul 23 08:16:33 2015 +0000
- Revision:
- 2:0f76226be922
- Parent:
- 0:3f50511c1c1f
- Child:
- 4:8713fff9e20d
2015/07/23
Who changed what in which revision?
User | Revision | Line number | New 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 | } |
kityann | 2:0f76226be922 | 53 | ////////////////////////////// |
kityann | 2:0f76226be922 | 54 | // Set // |
kityann | 2:0f76226be922 | 55 | ////////////////////////////// |
kityann | 2:0f76226be922 | 56 | void CanSat::set_robot_x(double x){ |
kityann | 2:0f76226be922 | 57 | robot_x = x; |
kityann | 2:0f76226be922 | 58 | } |
kityann | 2:0f76226be922 | 59 | void CanSat::set_robot_y(double y){ |
kityann | 2:0f76226be922 | 60 | robot_y = y; |
kityann | 2:0f76226be922 | 61 | } |
kityann | 2:0f76226be922 | 62 | |
kityann | 2:0f76226be922 | 63 | void CanSat::set_robotKalman_x(double cur_x){ |
kityann | 2:0f76226be922 | 64 | robotK_x = cur_x; |
kityann | 2:0f76226be922 | 65 | } |
kityann | 2:0f76226be922 | 66 | void CanSat::set_robotKalman_y(double cur_y){ |
kityann | 2:0f76226be922 | 67 | robotK_y = cur_y; |
kityann | 2:0f76226be922 | 68 | } |
kityann | 2:0f76226be922 | 69 | void CanSat::set_gyro(double x, double y, double z){ |
kityann | 2:0f76226be922 | 70 | CanSat::gyro_x = x; |
kityann | 2:0f76226be922 | 71 | CanSat::gyro_y = y; |
kityann | 2:0f76226be922 | 72 | CanSat::gyro_z = z; |
kityann | 2:0f76226be922 | 73 | } |
kityann | 2:0f76226be922 | 74 | void CanSat::set_compass(double x, double y, double z){ |
kityann | 2:0f76226be922 | 75 | CanSat::compass_x = x; |
kityann | 2:0f76226be922 | 76 | CanSat::compass_y = y; |
kityann | 2:0f76226be922 | 77 | CanSat::compass_z = z; |
kityann | 2:0f76226be922 | 78 | } |
kityann | 2:0f76226be922 | 79 | void CanSat::set_pressure(double p){ |
kityann | 2:0f76226be922 | 80 | CanSat::pressure = p; |
kityann | 2:0f76226be922 | 81 | } |
kityann | 2:0f76226be922 | 82 | void CanSat::set_temperature(double t){ |
kityann | 2:0f76226be922 | 83 | CanSat::temperature = t; |
kityann | 2:0f76226be922 | 84 | } |
kityann | 2:0f76226be922 | 85 | void CanSat::set_humidity(double h){ |
kityann | 2:0f76226be922 | 86 | CanSat::humidity = h; |
kityann | 2:0f76226be922 | 87 | } |
kityann | 2:0f76226be922 | 88 | void CanSat::set_acceleration(double x, double y, double z){ |
kityann | 2:0f76226be922 | 89 | CanSat::acceleration_x = x; |
kityann | 2:0f76226be922 | 90 | CanSat::acceleration_y = y; |
kityann | 2:0f76226be922 | 91 | CanSat::acceleration_z = z; |
kityann | 2:0f76226be922 | 92 | } |