NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated NHK2017_octopus

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Dependencies:   2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel

Fork of KANI2017v2 by NagaokaRoboticsClub_mbedTeam

bot/controller/controller.cpp@2:ea151e05033a, 2017-08-22 (annotated)

Committer:
UCHITAKE
Date:
Tue Aug 22 11:56:47 2017 +0000
Revision:
2:ea151e05033a
Parent:
1:269914e0aa07
Child:
5:bc5ba4f070ad
???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:757e9800c103 1 #include "controller.h"
UCHITAKE 0:757e9800c103 2
UCHITAKE 0:757e9800c103 3 Controller::Controller() : FEP(controllerTX, controllerRX, ADDR)
UCHITAKE 0:757e9800c103 4 {
UCHITAKE 1:269914e0aa07 5 for(int i = 0; i < 7; i++) Button1[i] = 0;
UCHITAKE 1:269914e0aa07 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 1:269914e0aa07 9 for(int i = 0; i < 2; i++) degree[i] = 0;
UCHITAKE 1:269914e0aa07 10 for(int i = 0; i < 2; i++) norm[i] = 0;
UCHITAKE 1:269914e0aa07 11 for(int i = 0; i < 2; i++) vector[i] = 0;
UCHITAKE 1:269914e0aa07 12 fepTemp = 0;
UCHITAKE 1:269914e0aa07 13 }
UCHITAKE 1:269914e0aa07 14
UCHITAKE 1:269914e0aa07 15 void Controller::receiveState()
UCHITAKE 1:269914e0aa07 16 {
UCHITAKE 1:269914e0aa07 17 fepTemp = read(data, 6);
UCHITAKE 1:269914e0aa07 18 if(fepTemp == FEP_SUCCESS) {
UCHITAKE 1:269914e0aa07 19 for(int i=0; i<7; i++) {
UCHITAKE 1:269914e0aa07 20 Button1[i] = data[4] % 2;
UCHITAKE 1:269914e0aa07 21 data[4] /= 2;
UCHITAKE 1:269914e0aa07 22 }
UCHITAKE 1:269914e0aa07 23 for(int i=0; i<6; i++) {
UCHITAKE 1:269914e0aa07 24 Button2[i] = data[5] % 2;
UCHITAKE 1:269914e0aa07 25 data[5] /= 2;
UCHITAKE 1:269914e0aa07 26 }
UCHITAKE 1:269914e0aa07 27 for(int i = 0; i < 4; i++) {
UCHITAKE 1:269914e0aa07 28 stick[i] = -((double)(data[i] / STICK_DIVIDE) * 2.0 - 1.0);
UCHITAKE 1:269914e0aa07 29 }
UCHITAKE 1:269914e0aa07 30 getStickData();
UCHITAKE 1:269914e0aa07 31 } else if(fepTemp == FEP_NO_RESPONSE) {
UCHITAKE 1:269914e0aa07 32 } else {
UCHITAKE 1:269914e0aa07 33 }
UCHITAKE 1:269914e0aa07 34 }
UCHITAKE 1:269914e0aa07 35
UCHITAKE 1:269914e0aa07 36 void Controller::getStickData()
UCHITAKE 1:269914e0aa07 37 {
UCHITAKE 1:269914e0aa07 38 degree[0] = (atan2(stick[1], -stick[0])) * (180 / M_PI);
UCHITAKE 1:269914e0aa07 39 degree[1] = (atan2(stick[3], -stick[2])) * (180 / M_PI);
UCHITAKE 1:269914e0aa07 40
UCHITAKE 1:269914e0aa07 41 norm[0] = hypot(stick[0], stick[1]);
UCHITAKE 1:269914e0aa07 42 norm[1] = hypot(stick[2], stick[3]);
UCHITAKE 1:269914e0aa07 43
UCHITAKE 1:269914e0aa07 44 if(norm[0] < STICK_NEWTRAL) norm[0] = 0;
UCHITAKE 1:269914e0aa07 45 if(norm[1] < STICK_NEWTRAL) norm[1] = 0;
UCHITAKE 1:269914e0aa07 46 if(norm[0] > STICK_NORM_MAX) norm[0] = STICK_NORM_MAX;
UCHITAKE 1:269914e0aa07 47 if(norm[1] > STICK_NORM_MAX) norm[1] = STICK_NORM_MAX;
UCHITAKE 1:269914e0aa07 48
UCHITAKE 1:269914e0aa07 49 vector[0] = degree[0];
UCHITAKE 1:269914e0aa07 50 vector[1] = norm[0];
UCHITAKE 2:ea151e05033a 51 vector2[0] = degree[1];
UCHITAKE 2:ea151e05033a 52 vector2[1] = norm[1];
UCHITAKE 0:757e9800c103 53 }