albatross
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ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
InputHandler/InputHandler.cpp@49:87af91607b46, 2017-06-04 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Sun Jun 04 13:29:51 2017 +0000
- Branch:
- ?????
- Revision:
- 49:87af91607b46
- Child:
- 51:8a579a19a4ff
???????????;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YusukeWakuta | 49:87af91607b46 | 1 | #include "InputHandler.h" |
YusukeWakuta | 49:87af91607b46 | 2 | #include "mbed.h" |
YusukeWakuta | 49:87af91607b46 | 3 | |
YusukeWakuta | 49:87af91607b46 | 4 | InputCalc::InputCalc() |
YusukeWakuta | 49:87af91607b46 | 5 | { |
YusukeWakuta | 49:87af91607b46 | 6 | rawNeu = 0.0; |
YusukeWakuta | 49:87af91607b46 | 7 | rawMax = NORMMIN; |
YusukeWakuta | 49:87af91607b46 | 8 | rawMin = NORMMAX; |
YusukeWakuta | 49:87af91607b46 | 9 | |
YusukeWakuta | 49:87af91607b46 | 10 | shiftedMax = 0.0; |
YusukeWakuta | 49:87af91607b46 | 11 | shiftedMin = 0.0; |
YusukeWakuta | 49:87af91607b46 | 12 | |
YusukeWakuta | 49:87af91607b46 | 13 | NeushiftWidth = 0.0; |
YusukeWakuta | 49:87af91607b46 | 14 | upperShiftRate = 0.0; |
YusukeWakuta | 49:87af91607b46 | 15 | lowerShiftRate = 0.0; |
YusukeWakuta | 49:87af91607b46 | 16 | } |
YusukeWakuta | 49:87af91607b46 | 17 | |
YusukeWakuta | 49:87af91607b46 | 18 | void InputCalc::setNeutral(float input) |
YusukeWakuta | 49:87af91607b46 | 19 | { |
YusukeWakuta | 49:87af91607b46 | 20 | float sum = 0.0; |
YusukeWakuta | 49:87af91607b46 | 21 | for (int i = 0; i < NEUTRAL_SUM_NUM ; i++) { |
YusukeWakuta | 49:87af91607b46 | 22 | sum += input; |
YusukeWakuta | 49:87af91607b46 | 23 | } |
YusukeWakuta | 49:87af91607b46 | 24 | rawNeu = sum / NEUTRAL_SUM_NUM; |
YusukeWakuta | 49:87af91607b46 | 25 | } |
YusukeWakuta | 49:87af91607b46 | 26 | |
YusukeWakuta | 49:87af91607b46 | 27 | void InputCalc::setMaxAndMin(double input) |
YusukeWakuta | 49:87af91607b46 | 28 | { |
YusukeWakuta | 49:87af91607b46 | 29 | if (input > rawMax) |
YusukeWakuta | 49:87af91607b46 | 30 | rawMax = input; |
YusukeWakuta | 49:87af91607b46 | 31 | else if (input < rawMin) |
YusukeWakuta | 49:87af91607b46 | 32 | rawMin = input; |
YusukeWakuta | 49:87af91607b46 | 33 | } |
YusukeWakuta | 49:87af91607b46 | 34 | |
YusukeWakuta | 49:87af91607b46 | 35 | //入力値の中央値を0とし、その分最大値と最小値をシフトします |
YusukeWakuta | 49:87af91607b46 | 36 | void InputCalc::shift2ZeroNeu() |
YusukeWakuta | 49:87af91607b46 | 37 | { |
YusukeWakuta | 49:87af91607b46 | 38 | shiftedMax = rawMax - rawNeu; |
YusukeWakuta | 49:87af91607b46 | 39 | shiftedMin = rawMin - rawNeu; |
YusukeWakuta | 49:87af91607b46 | 40 | } |
YusukeWakuta | 49:87af91607b46 | 41 | |
YusukeWakuta | 49:87af91607b46 | 42 | //シフトした後の値を-1.0~1.0へと正規化するための比率を取得します |
YusukeWakuta | 49:87af91607b46 | 43 | void InputCalc::GetNormRate() |
YusukeWakuta | 49:87af91607b46 | 44 | { |
YusukeWakuta | 49:87af91607b46 | 45 | upperShiftRate = 1.0 / shiftedMax; |
YusukeWakuta | 49:87af91607b46 | 46 | lowerShiftRate = -1.0 / shiftedMin; |
YusukeWakuta | 49:87af91607b46 | 47 | } |
YusukeWakuta | 49:87af91607b46 | 48 | |
YusukeWakuta | 49:87af91607b46 | 49 | //値を-1.0~1.0へと正規化します |
YusukeWakuta | 49:87af91607b46 | 50 | void InputCalc::NormValue(double *input) |
YusukeWakuta | 49:87af91607b46 | 51 | { |
YusukeWakuta | 49:87af91607b46 | 52 | *input -= rawNeu; |
YusukeWakuta | 49:87af91607b46 | 53 | if (*input > 0.0) |
YusukeWakuta | 49:87af91607b46 | 54 | *input *= upperShiftRate; |
YusukeWakuta | 49:87af91607b46 | 55 | else if (*input < 0.0) |
YusukeWakuta | 49:87af91607b46 | 56 | *input *= lowerShiftRate; |
YusukeWakuta | 49:87af91607b46 | 57 | } |
YusukeWakuta | 49:87af91607b46 | 58 | |
YusukeWakuta | 49:87af91607b46 | 59 | //初期値の分、入力値を0に寄せて、拡大します。 |
YusukeWakuta | 49:87af91607b46 | 60 | void InputCalc::WidenNeutral(double *input) |
YusukeWakuta | 49:87af91607b46 | 61 | { |
YusukeWakuta | 49:87af91607b46 | 62 | if (-NEUWIDTH < *input&& *input < NEUWIDTH) |
YusukeWakuta | 49:87af91607b46 | 63 | *input = 0; |
YusukeWakuta | 49:87af91607b46 | 64 | else if (*input < -NEUWIDTH) { |
YusukeWakuta | 49:87af91607b46 | 65 | *input += NEUWIDTH; |
YusukeWakuta | 49:87af91607b46 | 66 | *input *= WIDENRATE; |
YusukeWakuta | 49:87af91607b46 | 67 | } else if (NEUWIDTH < *input) { |
YusukeWakuta | 49:87af91607b46 | 68 | *input -= NEUWIDTH; |
YusukeWakuta | 49:87af91607b46 | 69 | *input *= WIDENRATE; |
YusukeWakuta | 49:87af91607b46 | 70 | } |
YusukeWakuta | 49:87af91607b46 | 71 | } |
YusukeWakuta | 49:87af91607b46 | 72 | |
YusukeWakuta | 49:87af91607b46 | 73 | double InputCalc::CutInvalidInput(double input) |
YusukeWakuta | 49:87af91607b46 | 74 | { |
YusukeWakuta | 49:87af91607b46 | 75 | if(input > NORMMAX) |
YusukeWakuta | 49:87af91607b46 | 76 | input = NORMMAX; |
YusukeWakuta | 49:87af91607b46 | 77 | else if(input < NORMMIN) |
YusukeWakuta | 49:87af91607b46 | 78 | input = NORMMIN; |
YusukeWakuta | 49:87af91607b46 | 79 | } |
YusukeWakuta | 49:87af91607b46 | 80 | |
YusukeWakuta | 49:87af91607b46 | 81 | double InputCalc::Processing(double input) |
YusukeWakuta | 49:87af91607b46 | 82 | { |
YusukeWakuta | 49:87af91607b46 | 83 | setMaxAndMin(input); |
YusukeWakuta | 49:87af91607b46 | 84 | shift2ZeroNeu(); |
YusukeWakuta | 49:87af91607b46 | 85 | GetNormRate(); |
YusukeWakuta | 49:87af91607b46 | 86 | NormValue(&input); |
YusukeWakuta | 49:87af91607b46 | 87 | WidenNeutral(&input); |
YusukeWakuta | 49:87af91607b46 | 88 | return CutInvalidInput(input); |
YusukeWakuta | 49:87af91607b46 | 89 | } |