Diff: main.cpp

Branch:

?????

Revision:

41:d2d123d7a6fa

Parent:

37:7ce6e87b9c36

Child:

42:6cc53727acc2

--- a/main.cpp	Fri Apr 21 10:47:11 2017 +0000
+++ b/main.cpp	Sun Apr 23 15:12:59 2017 +0000
@@ -63,11 +63,6 @@
 CANMessage recmsg_R;
 CANMessage recmsg_L;
 
-enum InputType {
-    enumRoll,
-    enumPitch
-};
-
 //void tickFusoku(void const * arg){
 //    while(1){
 //        fusokuControl = 1;
@@ -77,108 +72,11 @@
 //    }
 //}
 
-void setNeutral()
-{
-    float rollSum;
-    float pitchSum;
-
-    for(int i = 0; i < SUM_UP_NUM; i++) {
-        rollSum += rollPin.read();
-        pitchSum += pitchPin.read();
-    }
-    rollNeutral = rollSum / SUM_UP_NUM;
-    pitchNeutral = pitchSum / SUM_UP_NUM;
-
-    neutralDiff = pitchNeutral - rollNeutral; //ピッチの初期値の方がい小さいと仮定
-    rollNeutral += neutralDiff;
-    rollUpperDiff = 0;
-}
 
-void setMaxAndMin(InputType it,float value)
-{
-    if(it == enumPitch) {
-        if(value >pitchNeutral + pitchUpperDiff)
-            pitchUpperDiff = value - pitchNeutral;
-        else if(value < rollNeutral + pitchLowerDiff)
-            pitchLowerDiff = value - pitchNeutral;
-        return;
-    } else if(it == enumRoll) {
-        if(value >rollNeutral + rollUpperDiff)
-            rollUpperDiff = value - rollNeutral;
-        else if(value < rollNeutral + rollLowerDiff)
-            rollLowerDiff = value  -rollNeutral ;
-        return;
-    }
-}
 
-//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 MatchUpperAndLower(InputType it, float max,float min,float neutral,float value)
-{
-    float Upper = max- neutral;
-    float Lower  = neutral - min;
 
-    if(it == enumRoll) {
-        if(Upper > Lower) {
-            if(value < neutral) {
-                value =  neutral + ((value - neutral) * (Upper / Lower));
-                rollLowerDiff  =  -rollUpperDiff;
-            }
-        } else  {
-            if(value > neutral) {
-                value =  neutral + ((value - neutral) * (Lower / Upper));
-                rollUpperDiff = -rollLowerDiff;
-            }
-        }
-        return value;
-    } else if(it == enumPitch) {
-        if(Upper > Lower) {
-            if(value < neutral) {
-                value =  neutral + ((value -neutral) * (Upper / Lower));
-                pitchLowerDiff =  -pitchUpperDiff;
-            }
-        } else  {
-            if(value > neutral) {
-                value =  neutral + ((value - neutral) * (Lower / Upper));
-                pitchUpperDiff= -pitchLowerDiff;
-            }
-        }
-        return value;
-    } else return value;
-}
 
-//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
-        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;
-    if(value< max&& value > min) {
-        for(int i = 1; i <= PHASE_NUM; i++) {
-            if(value < min + PhaseWidth * i&& value > min + PhaseWidth * (i - 1) )
-                return i;
-        }
-    } else  if(value <= min)
-        return 1;
-    else if(value>=max)
-        return PHASE_NUM;
-}
-
-float SetRollPitchRacio(float pitch,float roll)
-{
-    return (roll + pitch * PITCHPERROLL) / (1.0 + PITCHPERROLL);
-}
 
 void InputControlValues()
 {