File content as of revision 3:a7510585a11a:

#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;
}
//////////////////////////////
//          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(double x, double y, double z){
    CanSat::compass_x = x;
    CanSat::compass_y = y;
    CanSat::compass_z = z;
}
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;
}