NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/controller/controller.h@2:ea151e05033a, 2017-08-22 (annotated)
- Committer:
- UCHITAKE
- Date:
- Tue Aug 22 11:56:47 2017 +0000
- Revision:
- 2:ea151e05033a
- Parent:
- 1:269914e0aa07
- Child:
- 3:d25e7fb07ed2
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 0:757e9800c103 | 1 | #ifndef CONTROLLER_H |
UCHITAKE | 0:757e9800c103 | 2 | #define CONTROLLER_H |
UCHITAKE | 0:757e9800c103 | 3 | |
UCHITAKE | 0:757e9800c103 | 4 | #include "mbed.h" |
UCHITAKE | 0:757e9800c103 | 5 | #include "pin_config.h" |
UCHITAKE | 1:269914e0aa07 | 6 | #include <math.h> |
UCHITAKE | 0:757e9800c103 | 7 | |
UCHITAKE | 0:757e9800c103 | 8 | #include "FEP.h" |
UCHITAKE | 0:757e9800c103 | 9 | |
UCHITAKE | 1:269914e0aa07 | 10 | #define M_PI 3.141592653589793 |
UCHITAKE | 0:757e9800c103 | 11 | #define ADDR 000 |
UCHITAKE | 0:757e9800c103 | 12 | |
UCHITAKE | 1:269914e0aa07 | 13 | /** @def |
UCHITAKE | 1:269914e0aa07 | 14 | * FEP受信成功 |
UCHITAKE | 1:269914e0aa07 | 15 | */ |
UCHITAKE | 1:269914e0aa07 | 16 | #define FEP_SUCCESS 0 |
UCHITAKE | 1:269914e0aa07 | 17 | |
UCHITAKE | 1:269914e0aa07 | 18 | /** @def |
UCHITAKE | 1:269914e0aa07 | 19 | * スティック生値を割る数 |
UCHITAKE | 1:269914e0aa07 | 20 | */ |
UCHITAKE | 1:269914e0aa07 | 21 | #define STICK_DIVIDE 255.0 |
UCHITAKE | 1:269914e0aa07 | 22 | |
UCHITAKE | 1:269914e0aa07 | 23 | /** @def |
UCHITAKE | 1:269914e0aa07 | 24 | * スティックニュートラルの範囲 |
UCHITAKE | 1:269914e0aa07 | 25 | */ |
UCHITAKE | 1:269914e0aa07 | 26 | #define STICK_NEWTRAL 0.1 |
UCHITAKE | 1:269914e0aa07 | 27 | |
UCHITAKE | 1:269914e0aa07 | 28 | /** @def |
UCHITAKE | 1:269914e0aa07 | 29 | * スティックの距離の限界 |
UCHITAKE | 1:269914e0aa07 | 30 | */ |
UCHITAKE | 1:269914e0aa07 | 31 | #define STICK_NORM_MAX 1.0 |
UCHITAKE | 1:269914e0aa07 | 32 | |
UCHITAKE | 1:269914e0aa07 | 33 | class Controller : public FEP |
UCHITAKE | 1:269914e0aa07 | 34 | { |
UCHITAKE | 0:757e9800c103 | 35 | public : |
UCHITAKE | 0:757e9800c103 | 36 | Controller(); |
UCHITAKE | 1:269914e0aa07 | 37 | |
UCHITAKE | 2:ea151e05033a | 38 | void receiveState();//need confirm |
UCHITAKE | 0:757e9800c103 | 39 | private : |
UCHITAKE | 1:269914e0aa07 | 40 | void getStickData(); |
UCHITAKE | 1:269914e0aa07 | 41 | |
UCHITAKE | 1:269914e0aa07 | 42 | char data[6]; |
UCHITAKE | 1:269914e0aa07 | 43 | uint8_t fepTemp; |
UCHITAKE | 1:269914e0aa07 | 44 | protected : |
UCHITAKE | 1:269914e0aa07 | 45 | bool Button1[7]; |
UCHITAKE | 1:269914e0aa07 | 46 | bool Button2[6]; |
UCHITAKE | 1:269914e0aa07 | 47 | double stick[4]; |
UCHITAKE | 1:269914e0aa07 | 48 | double degree[2]; |
UCHITAKE | 1:269914e0aa07 | 49 | double norm[2]; |
UCHITAKE | 1:269914e0aa07 | 50 | double vector[2]; |
UCHITAKE | 2:ea151e05033a | 51 | double vector2[2]; |
UCHITAKE | 0:757e9800c103 | 52 | }; |
UCHITAKE | 0:757e9800c103 | 53 | |
UCHITAKE | 0:757e9800c103 | 54 | #endif//CONTROLLER_H |