NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated KANI2017v2

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Dependencies:   2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni

classDiagram

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bot/controller/controller.cpp@19:3a62cbc6fee9, 2017-09-04 (annotated)

Committer:
UCHITAKE
Date:
Mon Sep 04 01:01:13 2017 +0000
Revision:
19:3a62cbc6fee9
Parent:
16:86958857c739
Child:
22:bb6afe7332c3
add calibration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:757e9800c103 1 #include "controller.h"
UCHITAKE 0:757e9800c103 2
uchitake 9:cba664555161 3 Controller::Controller() : FEP(XBee1TX, XBee1RX, ADDR)
UCHITAKE 0:757e9800c103 4 {
uchitake 15:9a2dce34b660 5 for(int i = 0; i < 7; i++) button1[i] = 0;
uchitake 15:9a2dce34b660 6 for(int i = 0; i < 6; i++) button2[i] = 0;
UCHITAKE 1:269914e0aa07 7 for(int i = 0; i < 6; i++) data[i] = 0;
UCHITAKE 1:269914e0aa07 8 for(int i = 0; i < 4; i++) stick[i] = 0;
uchitake 15:9a2dce34b660 9 for(int i = 0; i < 2; i++) radian[i] = 0;
UCHITAKE 1:269914e0aa07 10 for(int i = 0; i < 2; i++) norm[i] = 0;
UCHITAKE 1:269914e0aa07 11 fepTemp = 0;
UCHITAKE 1:269914e0aa07 12 }
UCHITAKE 1:269914e0aa07 13
uchitake 16:86958857c739 14 Controller::Controller(PinName FEPtx, PinName FEPrx, int addr) :
uchitake 16:86958857c739 15 FEP(FEPtx, FEPrx, addr)
uchitake 16:86958857c739 16 {
uchitake 16:86958857c739 17 for(int i = 0; i < 7; i++) button1[i] = 0;
uchitake 16:86958857c739 18 for(int i = 0; i < 6; i++) button2[i] = 0;
uchitake 16:86958857c739 19 for(int i = 0; i < 6; i++) data[i] = 0;
uchitake 16:86958857c739 20 for(int i = 0; i < 4; i++) stick[i] = 0;
uchitake 16:86958857c739 21 for(int i = 0; i < 2; i++) radian[i] = 0;
uchitake 16:86958857c739 22 for(int i = 0; i < 2; i++) norm[i] = 0;
uchitake 16:86958857c739 23 fepTemp = 0;
uchitake 16:86958857c739 24 }
uchitake 16:86958857c739 25
UCHITAKE 19:3a62cbc6fee9 26 bool Controller::receiveState()
UCHITAKE 1:269914e0aa07 27 {
uchitake 15:9a2dce34b660 28 fepTemp = FEP::read(data, DATA_SIZE);
UCHITAKE 1:269914e0aa07 29 if(fepTemp == FEP_SUCCESS) {
uchitake 15:9a2dce34b660 30 for(int i = 0; i < 7; i++) {
uchitake 15:9a2dce34b660 31 button1[i] = data[4] % 2;
UCHITAKE 1:269914e0aa07 32 data[4] /= 2;
UCHITAKE 1:269914e0aa07 33 }
UCHITAKE 1:269914e0aa07 34 for(int i=0; i<6; i++) {
uchitake 15:9a2dce34b660 35 button2[i] = data[5] % 2;
UCHITAKE 1:269914e0aa07 36 data[5] /= 2;
UCHITAKE 1:269914e0aa07 37 }
UCHITAKE 1:269914e0aa07 38 for(int i = 0; i < 4; i++) {
UCHITAKE 1:269914e0aa07 39 stick[i] = -((double)(data[i] / STICK_DIVIDE) * 2.0 - 1.0);
UCHITAKE 1:269914e0aa07 40 }
uchitake 15:9a2dce34b660 41 setStick();
UCHITAKE 1:269914e0aa07 42 } else if(fepTemp == FEP_NO_RESPONSE) {
UCHITAKE 19:3a62cbc6fee9 43 return 0;
UCHITAKE 1:269914e0aa07 44 } else {
UCHITAKE 19:3a62cbc6fee9 45 return 0;
UCHITAKE 1:269914e0aa07 46 }
UCHITAKE 19:3a62cbc6fee9 47 return 1;
UCHITAKE 1:269914e0aa07 48 }
UCHITAKE 1:269914e0aa07 49
uchitake 15:9a2dce34b660 50 void Controller::setStick()
UCHITAKE 1:269914e0aa07 51 {
UCHITAKE 5:bc5ba4f070ad 52 for(int i = 0; i < 4; i++) {
uchitake 15:9a2dce34b660 53 if(stick[i] < STICK_NEWTRAL && stick[i] > -STICK_NEWTRAL) stick[i] = 0;
UCHITAKE 5:bc5ba4f070ad 54 }
uchitake 15:9a2dce34b660 55
uchitake 15:9a2dce34b660 56 radian[0] = atan2(stick[1], -stick[0]);
uchitake 15:9a2dce34b660 57 radian[1] = atan2(stick[3], -stick[2]);
UCHITAKE 1:269914e0aa07 58
UCHITAKE 1:269914e0aa07 59 norm[0] = hypot(stick[0], stick[1]);
UCHITAKE 1:269914e0aa07 60 norm[1] = hypot(stick[2], stick[3]);
UCHITAKE 1:269914e0aa07 61
UCHITAKE 1:269914e0aa07 62 if(norm[0] < STICK_NEWTRAL) norm[0] = 0;
UCHITAKE 1:269914e0aa07 63 if(norm[1] < STICK_NEWTRAL) norm[1] = 0;
UCHITAKE 1:269914e0aa07 64 if(norm[0] > STICK_NORM_MAX) norm[0] = STICK_NORM_MAX;
UCHITAKE 1:269914e0aa07 65 if(norm[1] > STICK_NORM_MAX) norm[1] = STICK_NORM_MAX;
uchitake 9:cba664555161 66 }
uchitake 16:86958857c739 67
uchitake 16:86958857c739 68 bool Controller::getButton1(int number)
uchitake 16:86958857c739 69 {
uchitake 16:86958857c739 70 return button1[number];
uchitake 16:86958857c739 71 }
uchitake 16:86958857c739 72
uchitake 16:86958857c739 73 bool Controller::getButton2(int number)
uchitake 16:86958857c739 74 {
uchitake 16:86958857c739 75 return button2[number];
uchitake 16:86958857c739 76 }
uchitake 16:86958857c739 77
uchitake 16:86958857c739 78 float Controller::getStick(int number)
uchitake 16:86958857c739 79 {
uchitake 16:86958857c739 80 return stick[number];
uchitake 16:86958857c739 81 }
uchitake 16:86958857c739 82
uchitake 16:86958857c739 83 float Controller::getRadian(int number)
uchitake 16:86958857c739 84 {
uchitake 16:86958857c739 85 return radian[number];
uchitake 16:86958857c739 86 }
uchitake 16:86958857c739 87
uchitake 16:86958857c739 88 float Controller::getNorm(int number)
uchitake 16:86958857c739 89 {
uchitake 16:86958857c739 90 return norm[number];
uchitake 16:86958857c739 91 }