Diff: InputHandler/InputHandler.cpp

Branch:

?????

Revision:

49:87af91607b46

Child:

51:8a579a19a4ff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/InputHandler/InputHandler.cpp	Sun Jun 04 13:29:51 2017 +0000
@@ -0,0 +1,89 @@
+#include "InputHandler.h"
+#include "mbed.h"
+
+InputCalc::InputCalc()
+{
+    rawNeu = 0.0;
+    rawMax = NORMMIN;
+    rawMin = NORMMAX;
+
+    shiftedMax = 0.0;
+    shiftedMin = 0.0;
+
+    NeushiftWidth = 0.0;
+    upperShiftRate = 0.0;
+    lowerShiftRate = 0.0;
+}
+
+void InputCalc::setNeutral(float input)
+{
+    float sum = 0.0;
+    for (int i = 0; i < NEUTRAL_SUM_NUM ; i++) {
+        sum += input;
+    }
+    rawNeu = sum / NEUTRAL_SUM_NUM;
+}
+
+void InputCalc::setMaxAndMin(double input)
+{
+    if (input > rawMax)
+        rawMax = input;
+    else if (input < rawMin)
+        rawMin = input;
+}
+
+//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
+void InputCalc::shift2ZeroNeu()
+{
+    shiftedMax = rawMax - rawNeu;
+    shiftedMin = rawMin - rawNeu;
+}
+
+//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
+void InputCalc::GetNormRate()
+{
+    upperShiftRate = 1.0 / shiftedMax;
+    lowerShiftRate = -1.0 / shiftedMin;
+}
+
+//値を-1.0～1.0へと正規化します
+void InputCalc::NormValue(double *input)
+{
+    *input -= rawNeu;
+    if (*input > 0.0)
+        *input *= upperShiftRate;
+    else if (*input < 0.0)
+        *input *= lowerShiftRate;
+}
+
+//初期値の分、入力値を0に寄せて、拡大します。
+void InputCalc::WidenNeutral(double *input)
+{
+    if (-NEUWIDTH < *input&& *input < NEUWIDTH)
+        *input = 0;
+    else if (*input < -NEUWIDTH) {
+        *input += NEUWIDTH;
+        *input *= WIDENRATE;
+    } else if (NEUWIDTH < *input) {
+        *input -= NEUWIDTH;
+        *input *= WIDENRATE;
+    }
+}
+
+double InputCalc::CutInvalidInput(double input)
+{
+    if(input > NORMMAX)
+        input = NORMMAX;
+    else if(input < NORMMIN)
+        input = NORMMIN;
+}
+
+double InputCalc::Processing(double input)
+{
+    setMaxAndMin(input);
+    shift2ZeroNeu();
+    GetNormRate();
+    NormValue(&input);
+    WidenNeutral(&input);
+    return  CutInvalidInput(input);
+}
\ No newline at end of file