Diff: bot/controller/controller.cpp

Revision:

54:857390145ac4

Parent:

52:320f910ca6ca

diff -r cdf67348b946 -r 857390145ac4 bot/controller/controller.cpp
--- a/bot/controller/controller.cpp	Thu Nov 23 04:15:02 2017 +0000
+++ b/bot/controller/controller.cpp	Thu Nov 23 14:59:59 2017 +0900
@@ -1,14 +1,14 @@
 #include "controller.h"
 
 Controller::Controller() :
-    FEP(XBee2TX, XBee2RX, ADDR1),
+    FEP(FEPTX, FEPRX, ADDR1),
     data(),
     fepTemp(0),
     button1(),
     button2(),
-    stick(),
-    radian(),
-    norm()
+    stick()
+    // radian(),
+    // norm()
 {
 }
 
@@ -18,13 +18,13 @@
     fepTemp(0),
     button1(),
     button2(),
-    stick(),
-    radian(),
-    norm()
+    stick()
+    // radian(),
+    // norm()
 {
 }
 
-int Controller::receiveState()
+bool Controller::receiveState()
 {
     fepTemp = FEP::read(data, DATA_SIZE);
     if(fepTemp == FEP_SUCCESS) {
@@ -42,14 +42,8 @@
             if(stick[i] < -1.0) stick[i] = -1.0;
         }
         setStick();
-    } else if(fepTemp == FEP_DT_BIN) {
-        return 2;
-    } else if(fepTemp == FEP_DT_BIN) {
-        return 3;
-    } else if(fepTemp == FEP_NO_RESPONSE) {
+    } else {
         return 0;
-    } else {
-        return 4;
     }
     return 1;
 }
@@ -60,16 +54,16 @@
         if(stick[i] < STICK_NEWTRAL && stick[i] > -STICK_NEWTRAL) stick[i] = 0;
     }
 
-    radian[0] = atan2(stick[1], stick[0]);
-    radian[1] = atan2(stick[3], -stick[2]);
-
-    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;
+    // radian[0] = atan2(stick[1], stick[0]);
+    // radian[1] = atan2(stick[3], -stick[2]);
+    //
+    // 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;
 }
 
 bool Controller::getButton1(int number) const
@@ -87,12 +81,12 @@
     return stick[number];
 }
 
-float Controller::getRadian(int number) const
-{
-    return radian[number];
-}
-
-float Controller::getNorm(int number) const
-{
-    return norm[number];
-}
+// float Controller::getRadian(int number) const
+// {
+//     return radian[number];
+// }
+//
+// float Controller::getNorm(int number) const
+// {
+//     return norm[number];
+// }