albatross
今までのジョイスティックの入力を段階分けしていた方式から、アナログ値をできる限りそのまま使用する方式に変更しました。
Fork of
ControlMain2017
by 
albatross
Diff: main.cpp
- Revision:
- 21:9b1f5123f4a8
- Parent:
- 20:d4951f491642
- Child:
- 22:5253367e7d78
- Child:
- 24:72f9cb6e9440
--- a/main.cpp Sun Mar 19 14:22:39 2017 +0000
+++ b/main.cpp Sun Mar 19 15:07:25 2017 +0000
@@ -19,13 +19,6 @@
#define ROLL_INPUT_MAX 0.963 - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL)
#define ROLL_INPUT_MIN 0.555 - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL)
-#define SUMED_INPUT_NEUTRAL 0.457
-#define SUMED_INPUT_MAX (PITCH_INPUT_MAX +ROLL_INPUT_MAX ) / 2.0 //0.7825
-#define SUMED_INPUT_MIN (PITCH_INPUT_MIN +ROLL_INPUT_MIN ) / 2.0
-
-#define DEC_INPUT_NEUTRAL 0
-#define DEC_INPUT_MAX (PITCH_INPUT_MAX -ROLL_INPUT_MIN ) / 2.0
-#define DEC_INPUT_MIN (PITCH_INPUT_MIN -ROLL_INPUT_MAX ) / 2.0
#define PHASE_NUM 6 //偶数にしてください
/*
roll入力とピッチ入力だとピッチの方が1.5倍効くように
@@ -75,23 +68,6 @@
CANMessage recmsg_R;
CANMessage recmsg_L;
-
-int SampleFloat(float f)
-{
- int temp = ((f + 0.025) * 100.0) / 5;
- float result = temp / 20.0;
- return result;
-}
-
-float get_analogin_ave(AnalogIn pin)
-{
- float val = 0;
- for(int i = 0; i<SUM_UP_NUM; i++) {
- val += pin.read();
- }
- return val/SUM_UP_NUM;
-}
-
//ジョイスティックの中間値から上と下の幅を合わせます。値を取得するたびに呼び出してください。範囲は広い方に合わせる物とします
float MatchRollUpperAndLower(float max,float min,float neutral,float value)
{
@@ -134,31 +110,25 @@
return value;
}
-float FormatEach2Range(float value,float max,float min)
+//範囲外に値がない場合にエラーが発生するので範囲内に収める
+float Format2Range(float value,float max,float min)
{
float result;
+
if(value > max)
result= max;
else if(value < min)
result = min;
+ else if(value > 1)
+ result = 1;
+ else if(value < 0)
+ result = 0;
else
result = value;
return result;
}
-//値を0から1の範囲に収めます
-float FormatSumed2Range(float value)
-{
- float result;
- if(value > 1)
- result = 1;
- else if(value < 0)
- result = 0;
- else
- result = value;
- return result;
-}
-
+//値をint型の段階に分ける
int PhaseFloat(float value,float max,float min)
{
float PhaseWidth = (max - min) / PHASE_NUM;
@@ -174,21 +144,17 @@
}
-
void InputControlValues()
{
pc.printf("Roll:%f Pitch:%f ",rollPin.read() - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL),pitchPin.read());
float MatchedRoll = MatchRollUpperAndLower(ROLL_INPUT_MAX,ROLL_INPUT_MIN,ROLL_INPUT_NEUTRAL,rollPin.read() - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL));
float MatchedPitch = MatchPitchUpperAndLower(PITCH_INPUT_MAX,ROLL_INPUT_MIN,PITCH_INPUT_NEUTRAL,pitchPin.read());
- float FormatedEachRollR = FormatEach2Range((MatchedPitch +MatchedRoll ) / 2.0,(changedRollMax + changedPitchMax) / 2.0,(changedRollMin + changedPitchMin) / 2.0);
- float FormatSumedR = FormatSumed2Range(FormatedEachRollR);
- *(int *)inputDatas_R =PhaseFloat(FormatSumedR,(changedRollMax + changedPitchMax) / 2.0,(changedRollMin + changedPitchMin) / 2.0);
- pc.printf("FormatR:%f ",FormatSumedR);
- float FormatedEachRollL = FormatEach2Range((MatchedPitch - MatchedRoll) / 2.0,(changedPitchMax - changedRollMin) /2.0,(changedPitchMin - changedRollMax) / 2.0);
- pc.printf("FormatL:%f ",FormatedEachRollL);
- float FormatSumedL = FormatSumed2Range(FormatedEachRollL);
- pc.printf("FormatL:%f ",FormatSumedL);
- *(int *)inputDatas_L = PhaseFloat(FormatSumedR,changedPitchMax - changedRollMin,changedPitchMin - changedRollMax);
+
+ float FormatedRollR = Format2Range((MatchedPitch +MatchedRoll ) / 2.0,(changedRollMax + changedPitchMax) / 2.0,(changedRollMin + changedPitchMin) / 2.0);
+ *(int *)inputDatas_R =PhaseFloat(FormatedRollR,(changedRollMax + changedPitchMax) / 2.0,(changedRollMin + changedPitchMin) / 2.0);
+
+ float FormatedRollL = Format2Range((MatchedPitch - MatchedRoll) / 2.0,(changedPitchMax - changedRollMin) /2.0,(changedPitchMin - changedRollMax) / 2.0);
+ *(int *)inputDatas_L = PhaseFloat(FormatedRollR,changedPitchMax - changedRollMin,changedPitchMin - changedRollMax);
if(*(int *)inputDatas_R < 0)
*(int *)inputDatas_R = 0;
@@ -240,8 +206,6 @@
toKeikiSerial.putc(inputDatas_R[i]);
toKeikiSerial.putc(inputDatas_L[i]);
}
-// toKeikiSerial.putc(cadence);
-// pc.printf("test\n\r");
}
void init()
@@ -284,9 +248,6 @@
wait_us(5);
receiveDatas();
SendDatas();
- // pc.printf("%d",drug_R.read());
-// toString_R();
-// toString_L();
wait(WAIT_LOOP_TIME);
}
}
\ No newline at end of file