NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2

Octopus!!

Dependencies:   2017NHKpin_config FEP HMC6352 PID QEI R1307 ikarashiMDC omni_wheel

Fork of KANIv3 by NagaokaRoboticsClub_mbedTeam

bot/controller/controller.h@1:845af5425eec, 2017-09-05 (annotated)

Committer:
uchitake
Date:
Tue Sep 05 16:11:20 2017 +0900
Revision:
1:845af5425eec
Child:
49:69a7235d837a
mbed-os5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uchitake 1:845af5425eec 1 /**
uchitake 1:845af5425eec 2 * @file controller.h
uchitake 1:845af5425eec 3 * @brief FEPを使ったコントローラ受信部
uchitake 1:845af5425eec 4 *
uchitake 1:845af5425eec 5 * Example :
uchitake 1:845af5425eec 6 * @code
uchitake 1:845af5425eec 7 * #include "mbed.h"
uchitake 1:845af5425eec 8 * #include "controller.h"
uchitake 1:845af5425eec 9 *
uchitake 1:845af5425eec 10 * Controller pad(PA_9, PA_10, 200);
uchitake 1:845af5425eec 11 * Serial pc(USBTX, USBRX, 115200);
uchitake 1:845af5425eec 12 *
uchitake 1:845af5425eec 13 * int main()
uchitake 1:845af5425eec 14 * {
uchitake 1:845af5425eec 15 * while(1) {
uchitake 1:845af5425eec 16 * if(pad.receiveState()) {
uchitake 1:845af5425eec 17 * for(int i = 0; i < 7; i++) pc.printf("%d, ", pad.getButton1(i));
uchitake 1:845af5425eec 18 * for(int i = 0; i < 6; i++) pc.printf("%d, ", pad.getButton2(i));
uchitake 1:845af5425eec 19 * pc.printf("\r\n");
uchitake 1:845af5425eec 20 * } else {
uchitake 1:845af5425eec 21 * pc.printf("ERROR\n\r");
uchitake 1:845af5425eec 22 * }
uchitake 1:845af5425eec 23 * }
uchitake 1:845af5425eec 24 * }
uchitake 1:845af5425eec 25 * @endcode
uchitake 1:845af5425eec 26 */
uchitake 1:845af5425eec 27 #ifndef CONTROLLER_H
uchitake 1:845af5425eec 28 #define CONTROLLER_H
uchitake 1:845af5425eec 29
uchitake 1:845af5425eec 30 #include "mbed.h"
uchitake 1:845af5425eec 31 #include "pin_config.h"
uchitake 1:845af5425eec 32 #include <math.h>
uchitake 1:845af5425eec 33
uchitake 1:845af5425eec 34 #include "FEP.h"
uchitake 1:845af5425eec 35
uchitake 1:845af5425eec 36 // const double M_PI = 3.141592653589793;
uchitake 1:845af5425eec 37 const int ADDR = 203;
uchitake 1:845af5425eec 38 const bool FEP_SUCCESS =0;
uchitake 1:845af5425eec 39 const int DATA_SIZE = 6;
uchitake 1:845af5425eec 40 const float STICK_DIVIDE = 255.0;
uchitake 1:845af5425eec 41 const float STICK_NEWTRAL = 0.1;
uchitake 1:845af5425eec 42 const float STICK_NORM_MAX =1.0;
uchitake 1:845af5425eec 43
uchitake 1:845af5425eec 44 /**
uchitake 1:845af5425eec 45 * @brief FEPを使ったコントローラのクラス
uchitake 1:845af5425eec 46 */
uchitake 1:845af5425eec 47 class Controller : public FEP
uchitake 1:845af5425eec 48 {
uchitake 1:845af5425eec 49 public :
uchitake 1:845af5425eec 50
uchitake 1:845af5425eec 51 /**
uchitake 1:845af5425eec 52 * @brief コンストラクタ
uchitake 1:845af5425eec 53 */
uchitake 1:845af5425eec 54 Controller();
uchitake 1:845af5425eec 55
uchitake 1:845af5425eec 56 /**
uchitake 1:845af5425eec 57 * @brief コンストラクタ
uchitake 1:845af5425eec 58 * @param FEPtx FEPtx
uchitake 1:845af5425eec 59 * @param FEPrx FEPrx
uchitake 1:845af5425eec 60 * @param addr address
uchitake 1:845af5425eec 61 */
uchitake 1:845af5425eec 62 Controller(PinName FEPtx, PinName FEPrx,int addr);
uchitake 1:845af5425eec 63
uchitake 1:845af5425eec 64 /**
uchitake 1:845af5425eec 65 * @brief メンバ変数にボタンのステートを格納
uchitake 1:845af5425eec 66 */
uchitake 1:845af5425eec 67 bool receiveState();
uchitake 1:845af5425eec 68
uchitake 1:845af5425eec 69 /**
uchitake 1:845af5425eec 70 * ボタン1の状態を取得
uchitake 1:845af5425eec 71 * @param number button number
uchitake 1:845af5425eec 72 * @return status
uchitake 1:845af5425eec 73 */
uchitake 1:845af5425eec 74 bool getButton1(int number) const;
uchitake 1:845af5425eec 75
uchitake 1:845af5425eec 76 /**
uchitake 1:845af5425eec 77 * ボタン2の状態を取得
uchitake 1:845af5425eec 78 * @param number button number
uchitake 1:845af5425eec 79 * @return status
uchitake 1:845af5425eec 80 */
uchitake 1:845af5425eec 81 bool getButton2(int number) const;
uchitake 1:845af5425eec 82
uchitake 1:845af5425eec 83 /**
uchitake 1:845af5425eec 84 * スティックの値を取得
uchitake 1:845af5425eec 85 * @param number sticknumber(x, y, x, y)
uchitake 1:845af5425eec 86 * @return stick value
uchitake 1:845af5425eec 87 */
uchitake 1:845af5425eec 88 float getStick(int number) const;
uchitake 1:845af5425eec 89
uchitake 1:845af5425eec 90 /**
uchitake 1:845af5425eec 91 * スチィックの角度を取得
uchitake 1:845af5425eec 92 * @param number left...0 right...1
uchitake 1:845af5425eec 93 * @return radian
uchitake 1:845af5425eec 94 */
uchitake 1:845af5425eec 95 float getRadian(int number) const;
uchitake 1:845af5425eec 96
uchitake 1:845af5425eec 97 /**
uchitake 1:845af5425eec 98 * スティックの距離を取得
uchitake 1:845af5425eec 99 * @param number left..0 right..1
uchitake 1:845af5425eec 100 * @return norm
uchitake 1:845af5425eec 101 */
uchitake 1:845af5425eec 102 float getNorm(int number) const;
uchitake 1:845af5425eec 103
uchitake 1:845af5425eec 104 private :
uchitake 1:845af5425eec 105 void setStick();
uchitake 1:845af5425eec 106
uchitake 1:845af5425eec 107 char data[6];
uchitake 1:845af5425eec 108 uint8_t fepTemp;
uchitake 1:845af5425eec 109
uchitake 1:845af5425eec 110 protected :
uchitake 1:845af5425eec 111 bool button1[7];
uchitake 1:845af5425eec 112 bool button2[6];
uchitake 1:845af5425eec 113 double stick[4];
uchitake 1:845af5425eec 114 double radian[2];
uchitake 1:845af5425eec 115 double norm[2];
uchitake 1:845af5425eec 116 };
uchitake 1:845af5425eec 117
uchitake 1:845af5425eec 118 #endif//CONTROLLER_H