NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/controller/controller.cpp
- Committer:
- UCHITAKE
- Date:
- 2017-08-22
- Revision:
- 1:269914e0aa07
- Parent:
- 0:757e9800c103
- Child:
- 2:ea151e05033a
File content as of revision 1:269914e0aa07:
#include "controller.h" Controller::Controller() : FEP(controllerTX, controllerRX, ADDR) { for(int i = 0; i < 7; i++) Button1[i] = 0; for(int i = 0; i < 6; i++) Button2[i] = 0; for(int i = 0; i < 6; i++) data[i] = 0; for(int i = 0; i < 4; i++) stick[i] = 0; for(int i = 0; i < 2; i++) degree[i] = 0; for(int i = 0; i < 2; i++) norm[i] = 0; for(int i = 0; i < 2; i++) vector[i] = 0; fepTemp = 0; } void Controller::receiveState() { fepTemp = read(data, 6); if(fepTemp == FEP_SUCCESS) { for(int i=0; i<7; i++) { Button1[i] = data[4] % 2; data[4] /= 2; } for(int i=0; i<6; i++) { Button2[i] = data[5] % 2; data[5] /= 2; } for(int i = 0; i < 4; i++) { stick[i] = -((double)(data[i] / STICK_DIVIDE) * 2.0 - 1.0); } getStickData(); } else if(fepTemp == FEP_NO_RESPONSE) { } else { } } void Controller::getStickData() { degree[0] = (atan2(stick[1], -stick[0])) * (180 / M_PI); degree[1] = (atan2(stick[3], -stick[2])) * (180 / M_PI); norm[0] = hypot(stick[0], stick[1]); norm[1] = hypot(stick[2], stick[3]); if(norm[0] < STICK_NEWTRAL) norm[0] = 0; if(norm[1] < STICK_NEWTRAL) norm[1] = 0; if(norm[0] > STICK_NORM_MAX) norm[0] = STICK_NORM_MAX; if(norm[1] > STICK_NORM_MAX) norm[1] = STICK_NORM_MAX; vector[0] = degree[0]; vector[1] = norm[0]; }