Diff: bot/controller/controller.h

Revision:

1:269914e0aa07

Parent:

0:757e9800c103

Child:

2:ea151e05033a

--- a/bot/controller/controller.h	Mon Aug 21 12:20:14 2017 +0000
+++ b/bot/controller/controller.h	Tue Aug 22 05:07:57 2017 +0000
@@ -3,15 +3,51 @@
 
 #include "mbed.h"
 #include "pin_config.h"
+#include <math.h>
 
 #include "FEP.h"
 
+#define M_PI 3.141592653589793
 #define ADDR 000
 
-class Controller : public FEP {
+/** @def
+ * FEP受信成功
+ */
+#define FEP_SUCCESS 0
+
+/** @def
+ * スティック生値を割る数
+ */
+#define STICK_DIVIDE 255.0
+
+/** @def
+ * スティックニュートラルの範囲
+ */
+#define STICK_NEWTRAL 0.1
+
+/** @def
+ * スティックの距離の限界
+ */
+#define STICK_NORM_MAX 1.0
+
+class Controller : public FEP
+{
 public :
     Controller();
+
+    void receiveState();
 private :
+    void getStickData();
+
+    char data[6];
+    uint8_t fepTemp;
+protected :
+    bool Button1[7];
+    bool Button2[6];
+    double stick[4];
+    double degree[2];
+    double norm[2];
+    double vector[2];
 };
 
 #endif//CONTROLLER_H
\ No newline at end of file