2015/08/14
Dependencies: VNH5019
Fork of cansat by
cansat.cpp
- Committer:
- s1210160
- Date:
- 2015-08-10
- Revision:
- 5:534a54a44b22
- Parent:
- 4:8713fff9e20d
- Child:
- 6:601cac49d4b1
File content as of revision 5:534a54a44b22:
#include "cansat.h" ////////////////////////////// // Init // ////////////////////////////// CanSat::CanSat(VNH5019 agzSheild):_agzSheild(agzSheild){ } void CanSat::control_Motor(int flag,int speed){ if(flag == 0){ _agzSheild.changeSpeed(1, speed, 1, speed); //straight motor_command = 'f'; } if(flag == 1){ _agzSheild.changeSpeed(0, speed, 0, speed); motor_command = 's'; } if(flag == 2){ _agzSheild.changeSpeed(1, speed, 2, speed); //Turn Right motor_command = 'r'; } if(flag == 3){ _agzSheild.changeSpeed(2, speed, 1, speed); //Turn Right motor_command = 'l'; } if(flag == 4){ _agzSheild.changeSpeed(2, speed, 2, speed); motor_command = 'b'; } } ////////////////////////////// // Get // ////////////////////////////// double CanSat::get_robot_x(){ return robot_x; } double CanSat::get_robot_y(){ return robot_y; } double CanSat::get_robotKalman_x(){ return robotK_x; } double CanSat::get_robotKalman_y(){ return robotK_y; } 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; } double CanSat::get_target_x(){ return target_x; } double CanSat::get_target_y(){ return target_y; } int CanSat::get_speed(){ return speed; } int CanSat::get_robot_angle(){ return robot_angle; } int CanSat::get_target_angle(){ return target_angle; } double CanSat::get_pressure(){ return pressure; } double CanSat::get_temperature(){ return temperature; } double CanSat::get_humidity(){ return humidity; } ////////////////////////////// // Set // ////////////////////////////// void CanSat::set_robot_x(double x){ robot_x = x; } void CanSat::set_robot_y(double y){ robot_y = y; } void CanSat::set_robotKalman_x(double cur_x){ robotK_x = cur_x; } void CanSat::set_robotKalman_y(double cur_y){ robotK_y = cur_y; } void CanSat::set_gyro(double x, double y, double z){ CanSat::gyro_x = x; CanSat::gyro_y = y; CanSat::gyro_z = 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; } void CanSat::set_temperature(double t){ CanSat::temperature = t; } void CanSat::set_humidity(double h){ CanSat::humidity = h; } void CanSat::set_acceleration(double x, double y, double z){ CanSat::acceleration_x = x; CanSat::acceleration_y = y; CanSat::acceleration_z = z; } void CanSat::set_target_distance(double distance){ CanSat::target_distance = distance; } void CanSat::set_speed(int new_speed){ CanSat::speed = new_speed; } void CanSat::set_robot_angle(int new_robot_angle){ CanSat::robot_angle = new_robot_angle; } void CanSat::set_target_angle(int new_target_angle){ CanSat::target_angle = new_target_angle; }