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Dependencies:   mbed-rtos mbed

Global.cpp@0:2a15bd367891, 2015-09-07 (annotated)

Committer:
shimogamo
Date:
Mon Sep 07 01:19:55 2015 +0000
Revision:
0:2a15bd367891
Child:
1:3f857674a290
main?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 0:2a15bd367891 1 #include "mbed.h"
shimogamo 0:2a15bd367891 2 #include "Global.h"
shimogamo 0:2a15bd367891 3 int Global::maxpitch = 10;//
shimogamo 0:2a15bd367891 4 int Global::minpitch = -10;//
shimogamo 0:2a15bd367891 5 int Global::Global::maxyaw = 10;//
shimogamo 0:2a15bd367891 6 int Global::minyaw = -10;//
shimogamo 0:2a15bd367891 7 float Global::maxrudderangle = 600.0;//係数変更でサーボ稼働幅調整
shimogamo 0:2a15bd367891 8 float Global::minrudderangle = -maxrudderangle;//別の値を入れたら非対称にしたりもできる
shimogamo 0:2a15bd367891 9 float Global::maxelevatorangle = 900.0;//係数変更でサーボ稼働幅調整
shimogamo 0:2a15bd367891 10 float Global::minelevatorangle = -maxelevatorangle;//別の値を入れたら非対称にしたりもできる
shimogamo 0:2a15bd367891 11 double Global::neutralpitchdegree;
shimogamo 0:2a15bd367891 12 double Global::neutralyawdegree;
shimogamo 0:2a15bd367891 13 double Global::maxpitchdegree;
shimogamo 0:2a15bd367891 14 double Global::minpitchdegree;
shimogamo 0:2a15bd367891 15 double Global::maxyawdegree;
shimogamo 0:2a15bd367891 16 double Global::minyawdegree;
shimogamo 0:2a15bd367891 17 double Global::neutralrudderangle;
shimogamo 0:2a15bd367891 18 double Global::neutralelevatorangle;
shimogamo 0:2a15bd367891 19 double Global::trimpitch;
shimogamo 0:2a15bd367891 20 double Global::trimyaw;
shimogamo 0:2a15bd367891 21 double Global::inttrimpitch;
shimogamo 0:2a15bd367891 22 double Global::inttrimyaw;
shimogamo 0:2a15bd367891 23 std::vector<double> Global::_pitch;
shimogamo 0:2a15bd367891 24 std::vector<double> Global::_yaw;
shimogamo 0:2a15bd367891 25 std::vector<double> Global::_airspeed;
shimogamo 0:2a15bd367891 26 std::vector<double> Global::_cadence;
shimogamo 0:2a15bd367891 27 std::vector<double> Global::_altitude;
shimogamo 0:2a15bd367891 28 //double Global::_pitch;
shimogamo 0:2a15bd367891 29 //double Global::_yaw;
shimogamo 0:2a15bd367891 30
shimogamo 0:2a15bd367891 31 void Global::initialize(){
shimogamo 0:2a15bd367891 32 }
shimogamo 0:2a15bd367891 33
shimogamo 0:2a15bd367891 34 Timer Global::timer;
shimogamo 0:2a15bd367891 35 DigitalIn Global::initializeswitch(p23,PullUp);//否定で押しているとき
shimogamo 0:2a15bd367891 36 DigitalOut Global::led1(LED1);
shimogamo 0:2a15bd367891 37 DigitalOut Global::led2(LED2);
shimogamo 0:2a15bd367891 38 DigitalOut Global::led3(LED3);
shimogamo 0:2a15bd367891 39 DigitalOut Global::led4(LED4);
shimogamo 0:2a15bd367891 40
shimogamo 0:2a15bd367891 41 //固定定数
shimogamo 0:2a15bd367891 42 int Global::getmaxpitch(){return maxpitch;}
shimogamo 0:2a15bd367891 43 int Global::getminpitch(){return minpitch;}
shimogamo 0:2a15bd367891 44 int Global::getmaxyaw(){return maxyaw;}
shimogamo 0:2a15bd367891 45 int Global::getminyaw(){return minyaw;}
shimogamo 0:2a15bd367891 46 float Global::getmaxrudderangle(){return maxrudderangle;}
shimogamo 0:2a15bd367891 47 float Global::getminrudderangle(){return minrudderangle;}
shimogamo 0:2a15bd367891 48 float Global::getmaxelevatorangle(){return maxelevatorangle;}
shimogamo 0:2a15bd367891 49 float Global::getminelevatorangle(){return minelevatorangle;}
shimogamo 0:2a15bd367891 50 double Global::gettrimpitch(){return trimpitch;}
shimogamo 0:2a15bd367891 51 double Global::gettrimyaw(){return trimyaw;}
shimogamo 0:2a15bd367891 52 double Global::getinttrimpitch(){return inttrimpitch;}
shimogamo 0:2a15bd367891 53 double Global::getinttrimyaw(){return inttrimyaw;}
shimogamo 0:2a15bd367891 54 //初期化される定数
shimogamo 0:2a15bd367891 55 void Global::setmaxpitchdegree(double _maxpitchdegree){maxpitchdegree=_maxpitchdegree;}
shimogamo 0:2a15bd367891 56 void Global::setneutralpitchdegree(double _neutralpitchdegree){neutralpitchdegree=_neutralpitchdegree;}
shimogamo 0:2a15bd367891 57 void Global::setminpitchdegree(double _minpitchdegree){minpitchdegree=_minpitchdegree;}
shimogamo 0:2a15bd367891 58 void Global::setmaxyawdegree(double _maxyawdegree){maxyawdegree=_maxyawdegree;}
shimogamo 0:2a15bd367891 59 void Global::setneutralyawdegree(double _neutralyawdegree){neutralyawdegree=_neutralyawdegree;}
shimogamo 0:2a15bd367891 60 void Global::setminyawdegree(double _minyawdegree){minyawdegree=_minyawdegree;}
shimogamo 0:2a15bd367891 61 void Global::setneutralrudderangle(double _neutralrudderangle){neutralrudderangle=_neutralrudderangle;}
shimogamo 0:2a15bd367891 62 void Global::setneutralelevatorangle(double _neutralelevatorangle){neutralelevatorangle=_neutralelevatorangle;}
shimogamo 0:2a15bd367891 63 void Global::settrimpitch(double _trimpitch){trimpitch = _trimpitch;}
shimogamo 0:2a15bd367891 64 void Global::settrimyaw(double _trimyaw){trimyaw = _trimyaw;}
shimogamo 0:2a15bd367891 65 void Global::setinttrimpitch(double _inttrimpitch){inttrimpitch = _inttrimpitch;}
shimogamo 0:2a15bd367891 66 void Global::setinttrimyaw(double _inttrimyaw){inttrimyaw = _inttrimyaw;}
shimogamo 0:2a15bd367891 67 //変数
shimogamo 0:2a15bd367891 68 void Global::setpitch(double pitch){
shimogamo 0:2a15bd367891 69 if(_pitch.size()>100)_pitch.clear();
shimogamo 0:2a15bd367891 70 _pitch.push_back(pitch);
shimogamo 0:2a15bd367891 71 }
shimogamo 0:2a15bd367891 72 void Global::setyaw(double yaw){
shimogamo 0:2a15bd367891 73 if(_yaw.size()>100)_yaw.clear();
shimogamo 0:2a15bd367891 74 _yaw.push_back(yaw);
shimogamo 0:2a15bd367891 75 }
shimogamo 0:2a15bd367891 76 void Global::setairspeed(double airspeed){
shimogamo 0:2a15bd367891 77 if(_airspeed.size()>100)_airspeed.clear();
shimogamo 0:2a15bd367891 78 _airspeed.push_back(airspeed);
shimogamo 0:2a15bd367891 79 }
shimogamo 0:2a15bd367891 80 void Global::setcadence(double cadence){
shimogamo 0:2a15bd367891 81 if(_cadence.size()>100)_cadence.clear();
shimogamo 0:2a15bd367891 82 _cadence.push_back(cadence);
shimogamo 0:2a15bd367891 83 }
shimogamo 0:2a15bd367891 84 void Global::setaltitude(double altitude){
shimogamo 0:2a15bd367891 85 if(_altitude.size()>100)_altitude.clear();
shimogamo 0:2a15bd367891 86 _altitude.push_back(altitude);
shimogamo 0:2a15bd367891 87 }
shimogamo 0:2a15bd367891 88 double Global::getpitch(){
shimogamo 0:2a15bd367891 89 // writeonpc("pitch=%f\t",_pitch.back());
shimogamo 0:2a15bd367891 90 return _pitch.back();
shimogamo 0:2a15bd367891 91 }
shimogamo 0:2a15bd367891 92 double Global::getyaw(){
shimogamo 0:2a15bd367891 93 // writeonpc("yaw=%f\r\n",_yaw.back());
shimogamo 0:2a15bd367891 94 return _yaw.back();
shimogamo 0:2a15bd367891 95 }
shimogamo 0:2a15bd367891 96 double Global::getairspeed(){
shimogamo 0:2a15bd367891 97 // writeonpc("airspeed=%f\r\n",_airspeed.back());
shimogamo 0:2a15bd367891 98 return _airspeed.back();
shimogamo 0:2a15bd367891 99 }
shimogamo 0:2a15bd367891 100 double Global::getcadence(){
shimogamo 0:2a15bd367891 101 // writeonpc("cadence=%f\r\n",_cadence.back());
shimogamo 0:2a15bd367891 102 return _cadence.back();
shimogamo 0:2a15bd367891 103 }
shimogamo 0:2a15bd367891 104 double Global::getaltitude(){
shimogamo 0:2a15bd367891 105 // writeonpc("altitude=%f\r\n",_altitude.back());
shimogamo 0:2a15bd367891 106 return _altitude.back();
shimogamo 0:2a15bd367891 107 }
shimogamo 0:2a15bd367891 108
shimogamo 0:2a15bd367891 109 void Global::store(std::vector<double> &pitch, std::vector<double> &yaw,
shimogamo 0:2a15bd367891 110 std::vector<double> &airspeed, std::vector<double> &cadence, std::vector<double> &altitude){
shimogamo 0:2a15bd367891 111 copy(_pitch.begin(), _pitch.end(), back_inserter(pitch));
shimogamo 0:2a15bd367891 112 copy(_yaw.begin(), _yaw.end(), back_inserter(yaw));
shimogamo 0:2a15bd367891 113 copy(_airspeed.begin(), _airspeed.end(), back_inserter(airspeed));
shimogamo 0:2a15bd367891 114 copy(_cadence.begin(), _cadence.end(), back_inserter(cadence));
shimogamo 0:2a15bd367891 115 copy(_altitude.begin(), _altitude.end(), back_inserter(altitude));
shimogamo 0:2a15bd367891 116
shimogamo 0:2a15bd367891 117 _pitch.clear();
shimogamo 0:2a15bd367891 118 _yaw.clear();
shimogamo 0:2a15bd367891 119 _airspeed.clear();
shimogamo 0:2a15bd367891 120 _cadence.clear();
shimogamo 0:2a15bd367891 121 _altitude.clear();
shimogamo 0:2a15bd367891 122 }